mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-05 01:50:05 +00:00
update autogenerated NativeMethods.cs from latest PhysicsClientC_Api.h
This commit is contained in:
Erwin Coumans
parent
40482e0925
commit
e88dca3152
@ -21,8 +21,11 @@ public partial class NativeConstants {
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/// SHARED_MEMORY_KEY -> 12347
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public const int SHARED_MEMORY_KEY = 12347;
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/// SHARED_MEMORY_MAGIC_NUMBER -> 201709260
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public const int SHARED_MEMORY_MAGIC_NUMBER = 201709260;
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/// SHARED_MEMORY_MAGIC_NUMBER -> 201801170
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public const int SHARED_MEMORY_MAGIC_NUMBER = 201801170;
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/// MAX_VR_ANALOG_AXIS -> 5
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public const int MAX_VR_ANALOG_AXIS = 5;
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/// MAX_VR_BUTTONS -> 64
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public const int MAX_VR_BUTTONS = 64;
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@ -42,6 +45,9 @@ public partial class NativeConstants {
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/// MAX_MOUSE_EVENTS -> 256
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public const int MAX_MOUSE_EVENTS = 256;
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/// MAX_SDF_BODIES -> 512
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public const int MAX_SDF_BODIES = 512;
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/// VISUAL_SHAPE_MAX_PATH_LEN -> 1024
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public const int VISUAL_SHAPE_MAX_PATH_LEN = 1024;
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@ -92,7 +98,7 @@ public enum EnumSharedMemoryClientCommand {
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CMD_LOAD_MJCF,
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CMD_LOAD_BUNNY,
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CMD_LOAD_SOFT_BODY,
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CMD_SEND_BULLET_DATA_STREAM,
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@ -138,6 +144,8 @@ public enum EnumSharedMemoryClientCommand {
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CMD_CALCULATE_JACOBIAN,
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CMD_CALCULATE_MASS_MATRIX,
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CMD_USER_CONSTRAINT,
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CMD_REQUEST_CONTACT_POINT_INFORMATION,
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@ -196,6 +204,14 @@ public enum EnumSharedMemoryClientCommand {
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CMD_CUSTOM_COMMAND,
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CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS,
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CMD_SAVE_STATE,
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CMD_RESTORE_STATE,
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CMD_REQUEST_COLLISION_SHAPE_INFO,
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CMD_MAX_CLIENT_COMMANDS,
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}
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@ -276,6 +292,10 @@ public enum EnumSharedMemoryServerStatus {
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CMD_CALCULATED_JACOBIAN_FAILED,
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CMD_CALCULATED_MASS_MATRIX_COMPLETED,
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CMD_CALCULATED_MASS_MATRIX_FAILED,
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CMD_CONTACT_POINT_INFORMATION_COMPLETED,
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CMD_CONTACT_POINT_INFORMATION_FAILED,
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@ -314,6 +334,8 @@ public enum EnumSharedMemoryServerStatus {
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CMD_USER_CONSTRAINT_INFO_COMPLETED,
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CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED,
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CMD_REMOVE_USER_CONSTRAINT_COMPLETED,
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CMD_CHANGE_USER_CONSTRAINT_COMPLETED,
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@ -378,6 +400,24 @@ public enum EnumSharedMemoryServerStatus {
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CMD_CUSTOM_COMMAND_FAILED,
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CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED,
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CMD_SAVE_STATE_FAILED,
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CMD_SAVE_STATE_COMPLETED,
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CMD_RESTORE_STATE_FAILED,
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CMD_RESTORE_STATE_COMPLETED,
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CMD_COLLISION_SHAPE_INFO_COMPLETED,
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CMD_COLLISION_SHAPE_INFO_FAILED,
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CMD_LOAD_SOFT_BODY_FAILED,
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CMD_LOAD_SOFT_BODY_COMPLETED,
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CMD_MAX_SERVER_COMMANDS,
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}
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@ -423,15 +463,15 @@ public enum b3JointInfoFlags {
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eJointChangeChildFrameOrientation = 4,
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
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public struct b3JointInfo {
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/// char[1024]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
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public string m_linkName;
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/// char[1024]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
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public string m_jointName;
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/// int
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@ -478,6 +518,9 @@ public struct b3JointInfo {
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/// double[3]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_jointAxis;
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/// int
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public int m_parentIndex;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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@ -529,15 +572,15 @@ public struct b3UserConstraint {
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public double m_erp;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
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public struct b3BodyInfo {
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/// char[1024]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
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public string m_baseName;
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/// char[1024]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
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public string m_bodyName;
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}
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@ -549,10 +592,29 @@ public struct b3DynamicsInfo {
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/// double[3]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_localInertialPosition;
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public double[] m_localInertialDiagonal;
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/// double[7]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_localInertialFrame;
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/// double
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public double m_lateralFrictionCoeff;
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/// double
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public double m_rollingFrictionCoeff;
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/// double
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public double m_spinningFrictionCoeff;
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/// double
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public double m_restitution;
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/// double
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public double m_contactStiffness;
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/// double
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public double m_contactDamping;
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}
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public enum SensorType {
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@ -624,7 +686,8 @@ public struct b3CameraImageData {
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public int m_pixelHeight;
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/// char*
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public System.IntPtr m_rgbColorData;
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
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public string m_rgbColorData;
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/// float*
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public System.IntPtr m_depthValues;
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@ -680,6 +743,17 @@ public struct b3OpenGLVisualizerCameraInfo {
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public float[] m_target;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3UserConstraintState {
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/// double[6]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=6, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_appliedConstraintForces;
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/// int
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public int m_numDofs;
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}
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public enum b3VREventType {
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/// VR_CONTROLLER_MOVE_EVENT -> 1
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@ -751,6 +825,9 @@ public struct b3VRControllerEvent {
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/// float
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public float m_analogAxis;
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/// float[]
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public float[] m_auxAnalogAxis;
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/// int[64]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=64, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)]
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public int[] m_buttons;
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@ -965,6 +1042,41 @@ public struct b3VisualShapeInformation {
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public System.IntPtr m_visualShapeData;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
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public struct b3CollisionShapeData {
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/// int
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public int m_objectUniqueId;
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/// int
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public int m_linkIndex;
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/// int
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public int m_collisionGeometryType;
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/// double[3]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_dimensions;
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/// double[7]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_localCollisionFrame;
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/// char[1024]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
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public string m_meshAssetFileName;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3CollisionShapeInformation {
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/// int
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public int m_numCollisionShapes;
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/// b3CollisionShapeData*
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public System.IntPtr m_collisionShapeData;
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}
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public enum eLinkStateFlags {
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/// ACTUAL_STATE_COMPUTE_LINKVELOCITY -> 1
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@ -1036,6 +1148,33 @@ public enum EnumRenderer {
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ER_BULLET_HARDWARE_OPENGL = (1) << (17),
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}
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public enum EnumRendererAuxFlags {
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/// ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX -> 1
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ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX = 1,
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}
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public enum EnumCalculateInverseKinematicsFlags {
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/// IK_DLS -> 0
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IK_DLS = 0,
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/// IK_SDLS -> 1
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IK_SDLS = 1,
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/// IK_HAS_TARGET_POSITION -> 16
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IK_HAS_TARGET_POSITION = 16,
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/// IK_HAS_TARGET_ORIENTATION -> 32
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IK_HAS_TARGET_ORIENTATION = 32,
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/// IK_HAS_NULL_SPACE_VELOCITY -> 64
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IK_HAS_NULL_SPACE_VELOCITY = 64,
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/// IK_HAS_JOINT_DAMPING -> 128
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IK_HAS_JOINT_DAMPING = 128,
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}
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public enum b3ConfigureDebugVisualizerEnum {
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/// COV_ENABLE_GUI -> 1
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@ -1058,12 +1197,22 @@ public enum b3ConfigureDebugVisualizerEnum {
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COV_ENABLE_KEYBOARD_SHORTCUTS,
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COV_ENABLE_MOUSE_PICKING,
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COV_ENABLE_Y_AXIS_UP,
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COV_ENABLE_TINY_RENDERER,
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COV_ENABLE_RGB_BUFFER_PREVIEW,
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COV_ENABLE_DEPTH_BUFFER_PREVIEW,
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COV_ENABLE_SEGMENTATION_MARK_PREVIEW,
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}
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public enum b3AddUserDebugItemEnum {
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/// DEB_DEBUG_TEXT_USE_ORIENTATION -> 1
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DEB_DEBUG_TEXT_USE_ORIENTATION = 1,
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/// DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA -> 1
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DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA = 1,
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/// DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS -> 2
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DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS = 2,
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@ -1112,6 +1261,15 @@ public enum eURDF_Flags {
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/// URDF_RESERVED -> 64
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URDF_RESERVED = 64,
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/// URDF_USE_IMPLICIT_CYLINDER -> 128
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URDF_USE_IMPLICIT_CYLINDER = 128,
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/// URDF_GLOBAL_VELOCITIES_MB -> 256
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URDF_GLOBAL_VELOCITIES_MB = 256,
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/// MJCF_COLORS_FROM_FILE -> 512
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MJCF_COLORS_FROM_FILE = 512,
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}
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public enum eUrdfGeomTypes {
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@ -1138,6 +1296,15 @@ public enum eUrdfCollisionFlags {
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GEOM_FORCE_CONCAVE_TRIMESH = 1,
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}
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public enum eUrdfVisualFlags {
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/// GEOM_VISUAL_HAS_RGBA_COLOR -> 1
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GEOM_VISUAL_HAS_RGBA_COLOR = 1,
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/// GEOM_VISUAL_HAS_SPECULAR_COLOR -> 2
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GEOM_VISUAL_HAS_SPECULAR_COLOR = 2,
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}
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public enum eStateLoggingFlags {
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/// STATE_LOG_JOINT_MOTOR_TORQUES -> 1
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@ -1167,9 +1334,65 @@ public struct b3PluginArguments {
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/// int
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public int m_numFloats;
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/// int[128]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)]
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public int[] m_floats;
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/// double[128]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_floats;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3PhysicsSimulationParameters {
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/// double
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public double m_deltaTime;
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/// double[3]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_gravityAcceleration;
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/// int
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public int m_numSimulationSubSteps;
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/// int
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public int m_numSolverIterations;
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/// int
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public int m_useRealTimeSimulation;
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/// int
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public int m_useSplitImpulse;
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/// double
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public double m_splitImpulsePenetrationThreshold;
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/// double
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public double m_contactBreakingThreshold;
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/// int
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public int m_internalSimFlags;
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/// double
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public double m_defaultContactERP;
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/// int
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public int m_collisionFilterMode;
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/// int
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public int m_enableFileCaching;
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/// double
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public double m_restitutionVelocityThreshold;
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/// double
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public double m_defaultNonContactERP;
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/// double
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public double m_frictionERP;
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/// int
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public int m_enableConeFriction;
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/// int
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public int m_deterministicOverlappingPairs;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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@ -1194,9 +1417,8 @@ public struct b3SharedMemoryStatusHandle__ {
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}
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public partial class NativeMethods {
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const string dllName = "pybullet_vs2010_x64_release.dll";
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/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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///key: int
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[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ConnectSharedMemory")]
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@ -1330,6 +1552,13 @@ public static extern System.IntPtr b3CreateCustomCommand(IntPtr physClient) ;
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public static extern void b3CustomCommandLoadPlugin(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string pluginPath) ;
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/// Return Type: void
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///postFix: char*
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[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CustomCommandLoadPluginSetPostFix")]
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public static extern void b3CustomCommandLoadPluginSetPostFix(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string postFix) ;
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/// Return Type: int
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///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
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[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusPluginUniqueId")]
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@ -1445,7 +1674,7 @@ public static extern int b3GetBodyUniqueId(IntPtr physClient, int serialIndex)
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///bodyUniqueId: int
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///info: b3BodyInfo*
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[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetBodyInfo")]
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public static extern int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ;
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public static extern int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ;
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/// Return Type: int
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@ -1494,6 +1723,15 @@ public static extern System.IntPtr b3InitChangeDynamicsInfo(IntPtr physClient)
|
||||
public static extern int b3ChangeDynamicsInfoSetMass(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double mass) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///bodyUniqueId: int
|
||||
///linkIndex: int
|
||||
///localInertiaDiagonal: double*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetLocalInertiaDiagonal")]
|
||||
public static extern int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(IntPtr commandHandle, int bodyUniqueId, int linkIndex, ref double localInertiaDiagonal) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///bodyUniqueId: int
|
||||
@ -1651,6 +1889,20 @@ public static extern System.IntPtr b3InitRemoveUserConstraintCommand(IntPtr phy
|
||||
public static extern int b3GetNumUserConstraints(IntPtr physClient) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///constraintUniqueId: int
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitGetUserConstraintStateCommand")]
|
||||
public static extern System.IntPtr b3InitGetUserConstraintStateCommand(IntPtr physClient, int constraintUniqueId) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
||||
///constraintState: b3UserConstraintState*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusUserConstraintState")]
|
||||
public static extern int b3GetStatusUserConstraintState(IntPtr statusHandle, ref b3UserConstraintState constraintState) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///constraintUniqueId: int
|
||||
@ -1753,6 +2005,13 @@ public static extern void b3UserDebugTextSetOptionFlags(IntPtr commandHandle, i
|
||||
public static extern void b3UserDebugTextSetOrientation(IntPtr commandHandle, ref double orientation) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///replaceItem: int
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3UserDebugItemSetReplaceItemUniqueId")]
|
||||
public static extern void b3UserDebugItemSetReplaceItemUniqueId(IntPtr commandHandle, int replaceItem) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///objectUniqueId: int
|
||||
@ -1905,6 +2164,13 @@ public static extern void b3RequestCameraImageSetShadow(IntPtr commandHandle, i
|
||||
public static extern void b3RequestCameraImageSelectRenderer(IntPtr commandHandle, int renderer) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///flags: int
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetFlags")]
|
||||
public static extern void b3RequestCameraImageSetFlags(IntPtr commandHandle, int flags) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///imageData: b3CameraImageData*
|
||||
@ -2125,6 +2391,21 @@ public static extern System.IntPtr b3InitRequestVisualShapeInformation(IntPtr p
|
||||
public static extern void b3GetVisualShapeInformation(IntPtr physClient, ref b3VisualShapeInformation visualShapeInfo) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///bodyUniqueId: int
|
||||
///linkIndex: int
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestCollisionShapeInformation")]
|
||||
public static extern System.IntPtr b3InitRequestCollisionShapeInformation(IntPtr physClient, int bodyUniqueId, int linkIndex) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///collisionShapeInfo: b3CollisionShapeInformation*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetCollisionShapeInformation")]
|
||||
public static extern void b3GetCollisionShapeInformation(IntPtr physClient, ref b3CollisionShapeInformation collisionShapeInfo) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///filename: char*
|
||||
@ -2285,6 +2566,33 @@ public static extern int b3PhysicsParamSetEnableFileCaching(IntPtr commandHandl
|
||||
public static extern int b3PhysicsParamSetRestitutionVelocityThreshold(IntPtr commandHandle, double restitutionVelocityThreshold) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///enableConeFriction: int
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetEnableConeFriction")]
|
||||
public static extern int b3PhysicsParamSetEnableConeFriction(IntPtr commandHandle, int enableConeFriction) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///deterministicOverlappingPairs: int
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParameterSetDeterministicOverlappingPairs")]
|
||||
public static extern int b3PhysicsParameterSetDeterministicOverlappingPairs(IntPtr commandHandle, int deterministicOverlappingPairs) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestPhysicsParamCommand")]
|
||||
public static extern System.IntPtr b3InitRequestPhysicsParamCommand(IntPtr physClient) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
||||
///params: b3PhysicsSimulationParameters*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusPhysicsSimulationParameters")]
|
||||
public static extern int b3GetStatusPhysicsSimulationParameters(IntPtr statusHandle, ref b3PhysicsSimulationParameters @params) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///flags: int
|
||||
@ -2358,6 +2666,38 @@ public static extern int b3LoadUrdfCommandSetFlags(IntPtr commandHandle, int fl
|
||||
public static extern int b3LoadUrdfCommandSetGlobalScaling(IntPtr commandHandle, double globalScaling) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SaveStateCommandInit")]
|
||||
public static extern System.IntPtr b3SaveStateCommandInit(IntPtr physClient) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusGetStateId")]
|
||||
public static extern int b3GetStatusGetStateId(IntPtr statusHandle) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateCommandInit")]
|
||||
public static extern System.IntPtr b3LoadStateCommandInit(IntPtr physClient) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///stateId: int
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateSetStateId")]
|
||||
public static extern int b3LoadStateSetStateId(IntPtr commandHandle, int stateId) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///fileName: char*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateSetFileName")]
|
||||
public static extern int b3LoadStateSetFileName(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///fileName: char*
|
||||
@ -2426,6 +2766,23 @@ public static extern System.IntPtr b3CalculateJacobianCommandInit(IntPtr physCl
|
||||
public static extern int b3GetStatusJacobian(IntPtr statusHandle, ref int dofCount, ref double linearJacobian, ref double angularJacobian) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///bodyIndex: int
|
||||
///jointPositionsQ: double*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateMassMatrixCommandInit")]
|
||||
public static extern System.IntPtr b3CalculateMassMatrixCommandInit(IntPtr physClient, int bodyIndex, ref double jointPositionsQ) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
||||
///dofCount: int*
|
||||
///massMatrix: double*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusMassMatrix")]
|
||||
public static extern int b3GetStatusMassMatrix(IntPtr physClient, IntPtr statusHandle, ref int dofCount, ref double massMatrix) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
///bodyIndex: int
|
||||
@ -2485,6 +2842,13 @@ public static extern void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(In
|
||||
public static extern void b3CalculateInverseKinematicsSetJointDamping(IntPtr commandHandle, int numDof, ref double jointDampingCoeff) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///solver: int
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsSelectSolver")]
|
||||
public static extern void b3CalculateInverseKinematicsSelectSolver(IntPtr commandHandle, int solver) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
||||
///bodyUniqueId: int*
|
||||
@ -2561,6 +2925,14 @@ public static extern int b3JointControlSetKp(IntPtr commandHandle, int dofIndex
|
||||
public static extern int b3JointControlSetKd(IntPtr commandHandle, int dofIndex, double value) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///dofIndex: int
|
||||
///maximumVelocity: double
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetMaximumVelocity")]
|
||||
public static extern int b3JointControlSetMaximumVelocity(IntPtr commandHandle, int dofIndex, double maximumVelocity) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///dofIndex: int
|
||||
@ -2666,6 +3038,85 @@ public static extern int b3GetStatusCollisionShapeUniqueId(IntPtr statusHandle)
|
||||
public static extern System.IntPtr b3CreateVisualShapeCommandInit(IntPtr physClient) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///radius: double
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddSphere")]
|
||||
public static extern int b3CreateVisualShapeAddSphere(IntPtr commandHandle, double radius) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///halfExtents: double*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddBox")]
|
||||
public static extern int b3CreateVisualShapeAddBox(IntPtr commandHandle, ref double halfExtents) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///radius: double
|
||||
///height: double
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddCapsule")]
|
||||
public static extern int b3CreateVisualShapeAddCapsule(IntPtr commandHandle, double radius, double height) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///radius: double
|
||||
///height: double
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddCylinder")]
|
||||
public static extern int b3CreateVisualShapeAddCylinder(IntPtr commandHandle, double radius, double height) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///planeNormal: double*
|
||||
///planeConstant: double
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddPlane")]
|
||||
public static extern int b3CreateVisualShapeAddPlane(IntPtr commandHandle, ref double planeNormal, double planeConstant) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///fileName: char*
|
||||
///meshScale: double*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddMesh")]
|
||||
public static extern int b3CreateVisualShapeAddMesh(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName, ref double meshScale) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///shapeIndex: int
|
||||
///flags: int
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualSetFlag")]
|
||||
public static extern void b3CreateVisualSetFlag(IntPtr commandHandle, int shapeIndex, int flags) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///shapeIndex: int
|
||||
///childPosition: double*
|
||||
///childOrientation: double*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetChildTransform")]
|
||||
public static extern void b3CreateVisualShapeSetChildTransform(IntPtr commandHandle, int shapeIndex, ref double childPosition, ref double childOrientation) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///shapeIndex: int
|
||||
///specularColor: double*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetSpecularColor")]
|
||||
public static extern void b3CreateVisualShapeSetSpecularColor(IntPtr commandHandle, int shapeIndex, ref double specularColor) ;
|
||||
|
||||
|
||||
/// Return Type: void
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///shapeIndex: int
|
||||
///rgbaColor: double*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetRGBAColor")]
|
||||
public static extern void b3CreateVisualShapeSetRGBAColor(IntPtr commandHandle, int shapeIndex, ref double rgbaColor) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusVisualShapeUniqueId")]
|
||||
@ -3000,29 +3451,30 @@ public static extern void b3ApplyExternalTorque(IntPtr commandHandle, int bodyU
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnyCommandInit")]
|
||||
public static extern System.IntPtr b3LoadBunnyCommandInit(IntPtr physClient) ;
|
||||
///fileName: char*
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodyCommandInit")]
|
||||
public static extern System.IntPtr b3LoadSoftBodyCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///scale: double
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnySetScale")]
|
||||
public static extern int b3LoadBunnySetScale(IntPtr commandHandle, double scale) ;
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetScale")]
|
||||
public static extern int b3LoadSoftBodySetScale(IntPtr commandHandle, double scale) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///mass: double
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnySetMass")]
|
||||
public static extern int b3LoadBunnySetMass(IntPtr commandHandle, double mass) ;
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetMass")]
|
||||
public static extern int b3LoadSoftBodySetMass(IntPtr commandHandle, double mass) ;
|
||||
|
||||
|
||||
/// Return Type: int
|
||||
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
///collisionMargin: double
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnySetCollisionMargin")]
|
||||
public static extern int b3LoadBunnySetCollisionMargin(IntPtr commandHandle, double collisionMargin) ;
|
||||
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetCollisionMargin")]
|
||||
public static extern int b3LoadSoftBodySetCollisionMargin(IntPtr commandHandle, double collisionMargin) ;
|
||||
|
||||
|
||||
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
||||
|
||||
Loading…
Reference in New Issue
Block a user