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BulletSharpPInvoke
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Use CLR type names in PhyScalarType. 

Update version and year.
This commit is contained in:
AndresTraks 2017-01-04 22:36:02 +02:00
Родитель 8e5164df0e
Коммит 6c3cd222d2
13 изменённых файлов: 244 добавлений и 223 удалений
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8
BulletSharpPInvoke/Collision/ConcaveShape.cs
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@ -7,12 +7,12 @@ namespace BulletSharp
{
public enum PhyScalarType
{
Float,
Single,
Double,
Integer,
Short,
Int32,
Int16,
FixedPoint88,
UChar
Byte
}
public abstract class ConcaveShape : CollisionShape

10
BulletSharpPInvoke/Collision/TriangleIndexVertexArray.cs
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@ -38,17 +38,17 @@ namespace BulletSharp
switch (triangleIndexStride)
{
case sizeof(byte) * 3:
IndexType = PhyScalarType.UChar;
IndexType = PhyScalarType.Byte;
break;
case sizeof(short) * 3:
IndexType = PhyScalarType.Short;
IndexType = PhyScalarType.Int16;
break;
case sizeof(int) * 3:
default:
IndexType = PhyScalarType.Integer;
IndexType = PhyScalarType.Int32;
break;
}
VertexType = PhyScalarType.Float;
VertexType = PhyScalarType.Single;
NumTriangles = numTriangles;
TriangleIndexBase = Marshal.AllocHGlobal(numTriangles * triangleIndexStride);
@ -261,7 +261,7 @@ namespace BulletSharp
{
}
public void AddIndexedMesh(IndexedMesh mesh, PhyScalarType indexType = PhyScalarType.Integer)
public void AddIndexedMesh(IndexedMesh mesh, PhyScalarType indexType = PhyScalarType.Int32)
{
_meshes.Add(mesh);
btTriangleIndexVertexArray_addIndexedMesh(_native, mesh._native, indexType);

2
BulletSharpPInvoke/Collision/TriangleIndexVertexMaterialArray.cs
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@ -142,7 +142,7 @@ namespace BulletSharp
{
}
public void AddMaterialProperties(MaterialProperties mat, PhyScalarType triangleType = PhyScalarType.Integer)
public void AddMaterialProperties(MaterialProperties mat, PhyScalarType triangleType = PhyScalarType.Int32)
{
btTriangleIndexVertexMaterialArray_addMaterialProperties(_native, mat._native,
triangleType);

6
BulletSharpPInvoke/Properties/AssemblyInfo.cs
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@ -10,7 +10,7 @@ using System.Runtime.InteropServices;
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("BulletSharpPInvoke")]
[assembly: AssemblyCopyright("Copyright © Andres Traks 2016")]
[assembly: AssemblyCopyright("Copyright © Andres Traks 2017")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
// You can specify all the values or you can default the Build and Revision Numbers
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("0.9.0.0")]
[assembly: AssemblyFileVersion("0.9.0.0")]
[assembly: AssemblyVersion("0.10.0.0")]
[assembly: AssemblyFileVersion("0.10.0.0")]

1
BulletSharpPInvoke/demos/OpenTK/BasicDemo/BasicDemo.cs
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@ -1,4 +1,3 @@
using SiliconStudio.Core.Mathematics;
using System.Drawing;
using BulletSharp;
using OpenTK;

114
BulletSharpPInvoke/demos/OpenTK/BasicDemo/BasicDemo.csproj
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@ -1,61 +1,67 @@
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProductVersion>9.0.30729</ProductVersion>
<SchemaVersion>2.0</SchemaVersion>
<ProjectGuid>{085F79E4-C90B-4D62-BE4D-FE5C5E279D39}</ProjectGuid>
<OutputType>WinExe</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>BasicDemo</RootNamespace>
<AssemblyName>BasicDemo</AssemblyName>
<TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<StartupObject>
</StartupObject>
<TargetFrameworkProfile>Client</TargetFrameworkProfile>
<FileUpgradeFlags>
</FileUpgradeFlags>
<OldToolsVersion>3.5</OldToolsVersion>
<UpgradeBackupLocation />
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x86' ">
<DebugSymbols>true</DebugSymbols>
<OutputPath>bin\x86\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<DebugType>full</DebugType>
<PlatformTarget>x86</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|x86' ">
<OutputPath>bin\x86\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<Optimize>true</Optimize>
<DebugType>pdbonly</DebugType>
<PlatformTarget>x86</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
</PropertyGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProductVersion>9.0.30729</ProductVersion>
<SchemaVersion>2.0</SchemaVersion>
<ProjectGuid>{085F79E4-C90B-4D62-BE4D-FE5C5E279D39}</ProjectGuid>
<OutputType>WinExe</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>BasicDemo</RootNamespace>
<AssemblyName>BasicDemo</AssemblyName>
<TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<StartupObject>
</StartupObject>
<TargetFrameworkProfile>Client</TargetFrameworkProfile>
<FileUpgradeFlags>
</FileUpgradeFlags>
<OldToolsVersion>3.5</OldToolsVersion>
<UpgradeBackupLocation />
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x86' ">
<DebugSymbols>true</DebugSymbols>
<OutputPath>bin\x86\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<DebugType>full</DebugType>
<PlatformTarget>x86</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|x86' ">
<OutputPath>bin\x86\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<Optimize>true</Optimize>
<DebugType>pdbonly</DebugType>
<PlatformTarget>x86</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
</PropertyGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
Other similar extension points exist, see Microsoft.Common.targets.
<Target Name="BeforeBuild">
</Target>
<Target Name="AfterBuild">
</Target>
-->
<ItemGroup>
<Reference Include="BulletSharp">
<HintPath>..\..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="OpenTK, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL" />
<Reference Include="System" />
<Reference Include="System.Drawing" />
<Reference Include="System.Windows.Forms" />
</ItemGroup>
<ItemGroup>
<Compile Include="BasicDemo.cs" />
<Compile Include="Physics.cs" />
<Compile Include="Program.cs" />
</ItemGroup>
-->
<ItemGroup>
<Reference Include="BulletSharp">
<HintPath>..\..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="OpenTK, Version=2.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
<HintPath>packages\OpenTK.2.0.0\lib\net20\OpenTK.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Drawing" />
<Reference Include="System.Windows.Forms" />
</ItemGroup>
<ItemGroup>
<Compile Include="BasicDemo.cs" />
<Compile Include="Physics.cs" />
<Compile Include="Program.cs" />
</ItemGroup>
<ItemGroup>
<None Include="OpenTK.dll.config" />
<None Include="packages.config" />
</ItemGroup>
</Project>

25
BulletSharpPInvoke/demos/OpenTK/BasicDemo/OpenTK.dll.config Normal file
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@ -0,0 +1,25 @@
<configuration>
<dllmap os="linux" dll="opengl32.dll" target="libGL.so.1"/>
<dllmap os="linux" dll="glu32.dll" target="libGLU.so.1"/>
<dllmap os="linux" dll="openal32.dll" target="libopenal.so.1"/>
<dllmap os="linux" dll="alut.dll" target="libalut.so.0"/>
<dllmap os="linux" dll="opencl.dll" target="libOpenCL.so"/>
<dllmap os="linux" dll="libX11" target="libX11.so.6"/>
<dllmap os="linux" dll="libXi" target="libXi.so.6"/>
<dllmap os="linux" dll="SDL2.dll" target="libSDL2-2.0.so.0"/>
<dllmap os="osx" dll="opengl32.dll" target="/System/Library/Frameworks/OpenGL.framework/OpenGL"/>
<dllmap os="osx" dll="openal32.dll" target="/System/Library/Frameworks/OpenAL.framework/OpenAL" />
<dllmap os="osx" dll="alut.dll" target="/System/Library/Frameworks/OpenAL.framework/OpenAL" />
<dllmap os="osx" dll="libGLES.dll" target="/System/Library/Frameworks/OpenGLES.framework/OpenGLES" />
<dllmap os="osx" dll="libGLESv1_CM.dll" target="/System/Library/Frameworks/OpenGLES.framework/OpenGLES" />
<dllmap os="osx" dll="libGLESv2.dll" target="/System/Library/Frameworks/OpenGLES.framework/OpenGLES" />
<dllmap os="osx" dll="opencl.dll" target="/System/Library/Frameworks/OpenCL.framework/OpenCL"/>
<dllmap os="osx" dll="SDL2.dll" target="libSDL2.dylib"/>
<!-- XQuartz compatibility (X11 on Mac) -->
<dllmap os="osx" dll="libGL.so.1" target="/usr/X11/lib/libGL.dylib"/>
<dllmap os="osx" dll="libX11" target="/usr/X11/lib/libX11.dylib"/>
<dllmap os="osx" dll="libXcursor.so.1" target="/usr/X11/lib/libXcursor.dylib"/>
<dllmap os="osx" dll="libXi" target="/usr/X11/lib/libXi.dylib"/>
<dllmap os="osx" dll="libXinerama" target="/usr/X11/lib/libXinerama.dylib"/>
<dllmap os="osx" dll="libXrandr.so.2" target="/usr/X11/lib/libXrandr.dylib"/>
</configuration>

277
BulletSharpPInvoke/demos/OpenTK/BasicDemo/Physics.cs
Просмотреть файл

@ -1,143 +1,142 @@
using SiliconStudio.Core.Mathematics;
using System.Collections.Generic;
using BulletSharp;
using Vector3 = BulletSharp.Math.Vector3;
namespace BasicDemo
{
class Physics
{
///create 125 (5x5x5) dynamic objects
int ArraySizeX = 5, ArraySizeY = 5, ArraySizeZ = 5;
///scaling of the objects (0.1 = 20 centimeter boxes )
float StartPosX = -5;
float StartPosY = -5;
float StartPosZ = -3;
public DiscreteDynamicsWorld World { get; set; }
CollisionDispatcher dispatcher;
DbvtBroadphase broadphase;
List<CollisionShape> collisionShapes = new List<CollisionShape>();
CollisionConfiguration collisionConf;
public Physics()
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 50, 50);
using BulletSharp;
using BulletSharp.Math;
using System.Collections.Generic;
using Vector3 = BulletSharp.Math.Vector3;
namespace BasicDemo
{
class Physics
{
///create 125 (5x5x5) dynamic objects
int ArraySizeX = 5, ArraySizeY = 5, ArraySizeZ = 5;
///scaling of the objects (0.1 = 20 centimeter boxes )
float StartPosX = -5;
float StartPosY = -5;
float StartPosZ = -3;
public DiscreteDynamicsWorld World { get; set; }
CollisionDispatcher dispatcher;
DbvtBroadphase broadphase;
List<CollisionShape> collisionShapes = new List<CollisionShape>();
CollisionConfiguration collisionConf;
public Physics()
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf);
// create the ground
var groundShape = new BoxShape(50, 50, 50);
collisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, BulletSharp.Math.Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
collisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
var colShape = new BoxShape(1);
collisionShapes.Add(colShape);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape);
rbInfo.LocalInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
for (int y = 0; y < ArraySizeY; y++)
{
for (int x = 0; x < ArraySizeX; x++)
{
for (int z = 0; z < ArraySizeZ; z++)
{
BulletSharp.Math.Matrix startTransform = BulletSharp.Math.Matrix.Translation(
new Vector3(
2*i + start_x,
2*k + start_y,
2*j + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
public virtual void Update(float elapsedTime)
{
World.StepSimulation(elapsedTime);
}
public void ExitPhysics()
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose(); ;
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in collisionShapes)
shape.Dispose();
collisionShapes.Clear();
World.Dispose();
broadphase.Dispose();
if (dispatcher != null)
{
dispatcher.Dispose();
}
collisionConf.Dispose();
Matrix startTransform = Matrix.Translation(
new Vector3(
2*x + start_x,
2*y + start_y,
2*z + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
var body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
public RigidBody LocalCreateRigidBody(float mass, BulletSharp.Math.Matrix startTransform, CollisionShape shape)
{
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
shape.CalculateLocalInertia(mass, out localInertia);
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
World.AddRigidBody(body);
return body;
}
}
}
public virtual void Update(float elapsedTime)
{
World.StepSimulation(elapsedTime);
}
public void ExitPhysics()
{
// remove/dispose constraints
for (int i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose(); ;
}
// remove the rigidbodies from the dynamics world and delete them
for (int i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
// delete collision shapes
foreach (CollisionShape shape in collisionShapes)
shape.Dispose();
collisionShapes.Clear();
World.Dispose();
broadphase.Dispose();
if (dispatcher != null)
{
dispatcher.Dispose();
}
collisionConf.Dispose();
}
public RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
shape.CalculateLocalInertia(mass, out localInertia);
var myMotionState = new DefaultMotionState(startTransform);
using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia))
{
var body = new RigidBody(rbInfo);
World.AddRigidBody(body);
return body;
}
}
}
}

12
BulletSharpPInvoke/demos/OpenTK/BasicDemo/Program.cs
Просмотреть файл

@ -1,4 +1,3 @@
using SiliconStudio.Core.Mathematics;
using System;
using System.Reflection;
using System.Windows.Forms;
@ -12,17 +11,6 @@ namespace BasicDemo
[STAThread]
static void Main()
{
try
{
Assembly.Load("OpenTK");
}
catch
{
MessageBox.Show("OpenTK not found." +
"Please download it from http://www.opentk.com.", "Error!");
return;
}
try
{
Assembly.Load("BulletSharp");

4
BulletSharpPInvoke/demos/OpenTK/BasicDemo/packages.config Normal file
Просмотреть файл

@ -0,0 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="OpenTK" version="2.0.0" targetFramework="net40-client" />
</packages>

4
BulletSharpPInvoke/demos/VehicleDemo/VehicleDemo.cs
Просмотреть файл

@ -259,7 +259,7 @@ namespace VehicleDemo
const float heightScale = maxHeight / 256.0f;
const int width = 128, length = 128;
const int dataLength = width * length * sizeof(byte);
const PhyScalarType scalarType = PhyScalarType.UChar;
const PhyScalarType scalarType = PhyScalarType.Byte;
var scale = new Vector3(5.0f, maxHeight, 5.0f);
@ -300,7 +300,7 @@ namespace VehicleDemo
const float heightScale = maxHeight / 256.0f;
const int width = 64, length = 64;
const int dataLength = width * length * sizeof(float);
const PhyScalarType scalarType = PhyScalarType.Float;
const PhyScalarType scalarType = PhyScalarType.Single;
var scale = new Vector3(15.0f, maxHeight, 15.0f);

2
BulletSharpPInvoke/license.txt
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@ -1,4 +1,4 @@
Copyright (c) 2013-2016 Andres Traks
Copyright (c) 2013-2017 Andres Traks
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.

2
libbulletc/license.txt
Просмотреть файл

@ -1,4 +1,4 @@
Copyright (c) 2013-2016 Andres Traks
Copyright (c) 2013-2017 Andres Traks
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.