diff --git a/README.md b/README.md index 3a16279..a8d6dc8 100644 --- a/README.md +++ b/README.md @@ -224,7 +224,7 @@ csbindgen::Builder::default() .input_bindgen_file("src/lz4.rs") // required .method_filter(|x| { x.starts_with("LZ4") } ) // optional, default: |x| !x.starts_with('_') .rust_method_prefix("csbindgen_") // optional, default: "csbindgen_" - .rust_file_header("use super::lz4;") // optional, default: "" + .rust_file_header("use super::lz4::*;") // optional, default: "" .rust_method_type_path("lz4") // optional, default: "" .csharp_dll_name("lz4") // required .csharp_class_name("NativeMethods") // optional, default: NativeMethods @@ -369,6 +369,8 @@ Rust types will map these C# types. | `*const T` | `T*` | | `*mut *mut T` | `T**` | | `*const *const T` | `T**` | +| `*mut *const T` | `T**` | +| `*const *mut T` | `T**` | csbindgen is designed to return primitives that do not cause marshalling. It is better to convert from pointers to Span yourself than to do the conversion implicitly and in a black box. This is a recent trend, such as the addition of [DisableRuntimeMarshalling](https://learn.microsoft.com/en-us/dotnet/api/system.runtime.compilerservices.disableruntimemarshallingattribute) from .NET 7. @@ -814,7 +816,53 @@ finally } ``` -C# to Rust would be a bit simpler to send, just pass byte* and length. In Rust, use `std::slice::from_raw_parts` to create slice. Again, the important thing is that memory allocated in Rust must release in Rust and memory allocated in C# must release in C#. +C# to Rust would be a bit simpler to send, just pass byte* and length. In Rust, use `std::slice::from_raw_parts` to create slice. + +```rust +#[no_mangle] +pub unsafe extern "C" fn csharp_to_rust_string(utf16_str: *const u16, utf16_len: i32) { + let slice = std::slice::from_raw_parts(utf16_str, utf16_len as usize); + let str = String::from_utf16(slice).unwrap(); + println!("{}", str); +} + +#[no_mangle] +pub unsafe extern "C" fn csharp_to_rust_utf8(utf8_str: *const u8, utf8_len: i32) { + let slice = std::slice::from_raw_parts(utf8_str, utf8_len as usize); + let str = String::from_utf8_unchecked(slice.to_vec()); + println!("{}", str); +} + + +#[no_mangle] +pub unsafe extern "C" fn csharp_to_rust_bytes(bytes: *const u8, len: i32) { + let slice = std::slice::from_raw_parts(bytes, len as usize); + let vec = slice.to_vec(); + println!("{:?}", vec); +} +``` + +```csharp +var str = "foobarbaz:あいうえお"; // JPN(Unicode) +fixed (char* p = str) +{ + NativeMethods.csharp_to_rust_string((ushort*)p, str.Length); +} + +var str2 = Encoding.UTF8.GetBytes("あいうえお:foobarbaz"); +fixed (byte* p = str2) +{ + NativeMethods.csharp_to_rust_utf8(p, str2.Length); +} + +var bytes = new byte[] { 1, 10, 100, 255 }; +fixed (byte* p = bytes) +{ + NativeMethods.csharp_to_rust_bytes(p, bytes.Length); +} +``` + +Again, the important thing is that memory allocated in Rust must release in Rust and memory allocated in C# must release in C#. Build Tracing --- diff --git a/csbindgen-tests/build.rs b/csbindgen-tests/build.rs index 646a580..0d934b3 100644 --- a/csbindgen-tests/build.rs +++ b/csbindgen-tests/build.rs @@ -61,16 +61,17 @@ fn main() -> Result<(), Box> { csbindgen::Builder::default() .input_extern_file("src/lib.rs") - .csharp_class_name("LibRust") + .csharp_class_name("NativeMethods") .csharp_dll_name("csbindgen_tests") .csharp_use_function_pointer(true) - .generate_csharp_file("../dotnet-sandbox/method_call.cs") + .generate_csharp_file("../dotnet-sandbox/NativeMethods.cs") .unwrap(); // csbindgen::Builder::new() // .input_bindgen_file("src/zstd.rs") // .method_filter(|x| x.starts_with("ZSTD_")) // .rust_method_prefix("csbindgen_zstd_") + // .rust_file_header("use super::zstd::*;") // .csharp_class_name("LibZstd") // .csharp_dll_name("libzsd") // .generate_to_file("src/zstd_ffi.rs", "../dotnet-sandbox/zstd_bindgen.cs")?; @@ -78,6 +79,7 @@ fn main() -> Result<(), Box> { // csbindgen::Builder::new() // .input_bindgen_file("src/quiche.rs") // .method_filter(|x| x.starts_with("quiche_")) + // .rust_file_header("use super::quiche::*;") // .rust_method_prefix("csbindgen_quiche_") // .csharp_class_name("LibQuiche") // .csharp_dll_name("libquiche") @@ -86,7 +88,9 @@ fn main() -> Result<(), Box> { // csbindgen::Builder::new() // .input_bindgen_file("src/bullet3.rs") // .method_filter(|x| x.starts_with("b3")) + // .rust_file_header("use super::bullet3::*;") // .rust_method_prefix("csbindgen_bullet3_") + // .csharp_entry_point_prefix("csbindgen_bullet3_") // .csharp_class_name("LibBullet3") // .csharp_dll_name("libbullet3") // .generate_to_file("src/bullet3_ffi.rs", "../dotnet-sandbox/bullet3_bindgen.cs")?; diff --git a/csbindgen-tests/src/bullet3_ffi.rs b/csbindgen-tests/src/bullet3_ffi.rs index daf04c1..c3a6b72 100644 --- a/csbindgen-tests/src/bullet3_ffi.rs +++ b/csbindgen-tests/src/bullet3_ffi.rs @@ -3,7 +3,7 @@ #[allow(unused)] use ::std::os::raw::*; - +use super::bullet3::*; #[no_mangle] @@ -246,10 +246,10 @@ pub unsafe extern "C" fn csbindgen_bullet3_b3GetStatusActualState( bodyUniqueId: *mut c_int, numDegreeOfFreedomQ: *mut c_int, numDegreeOfFreedomU: *mut c_int, - rootLocalInertialFrame: *mut *mut f64, - actualStateQ: *mut *mut f64, - actualStateQdot: *mut *mut f64, - jointReactionForces: *mut *mut f64 + rootLocalInertialFrame: *mut *const f64, + actualStateQ: *mut *const f64, + actualStateQdot: *mut *const f64, + jointReactionForces: *mut *const f64 ) -> c_int { b3GetStatusActualState( @@ -271,14 +271,14 @@ pub unsafe extern "C" fn csbindgen_bullet3_b3GetStatusActualState2( numLinks: *mut c_int, numDegreeOfFreedomQ: *mut c_int, numDegreeOfFreedomU: *mut c_int, - rootLocalInertialFrame: *mut *mut f64, - actualStateQ: *mut *mut f64, - actualStateQdot: *mut *mut f64, - jointReactionForces: *mut *mut f64, - linkLocalInertialFrames: *mut *mut f64, - jointMotorForces: *mut *mut f64, - linkStates: *mut *mut f64, - linkWorldVelocities: *mut *mut f64 + rootLocalInertialFrame: *mut *const f64, + actualStateQ: *mut *const f64, + actualStateQdot: *mut *const f64, + jointReactionForces: *mut *const f64, + linkLocalInertialFrames: *mut *const f64, + jointMotorForces: *mut *const f64, + linkStates: *mut *const f64, + linkWorldVelocities: *mut *const f64 ) -> c_int { b3GetStatusActualState2( @@ -565,7 +565,7 @@ pub unsafe extern "C" fn csbindgen_bullet3_b3GetUserDataInfo( physClient: b3PhysicsClientHandle, bodyUniqueId: c_int, userDataIndex: c_int, - keyOut: *mut *mut c_char, + keyOut: *mut *const c_char, userDataIdOut: *mut c_int, linkIndexOut: *mut c_int, visualShapeIndexOut: *mut c_int diff --git a/csbindgen-tests/src/lib.rs b/csbindgen-tests/src/lib.rs index 84362d3..44bebfc 100644 --- a/csbindgen-tests/src/lib.rs +++ b/csbindgen-tests/src/lib.rs @@ -14,6 +14,39 @@ mod lz4; #[allow(non_camel_case_types)] mod lz4_ffi; +// #[allow(dead_code)] +// #[allow(non_snake_case)] +// #[allow(non_camel_case_types)] +// #[allow(non_upper_case_globals)] +// mod bullet3; + +// #[allow(dead_code)] +// #[allow(non_snake_case)] +// #[allow(non_camel_case_types)] +// mod bullet3_ffi; + +// #[allow(dead_code)] +// #[allow(non_snake_case)] +// #[allow(non_camel_case_types)] +// #[allow(non_upper_case_globals)] +// mod quiche; + +// #[allow(dead_code)] +// #[allow(non_snake_case)] +// #[allow(non_camel_case_types)] +// mod quiche_ffi; + +// #[allow(dead_code)] +// #[allow(non_snake_case)] +// #[allow(non_camel_case_types)] +// #[allow(non_upper_case_globals)] +// mod zstd; + +// #[allow(dead_code)] +// #[allow(non_snake_case)] +// #[allow(non_camel_case_types)] +// mod zstd_ffi; + #[allow(non_camel_case_types)] pub type LONG_PTR = ::std::os::raw::c_longlong; #[allow(non_camel_case_types)] @@ -34,6 +67,33 @@ pub unsafe extern "C" fn nullpointer_test(p: *const u8) { }; } +#[no_mangle] +pub unsafe extern "C" fn csharp_to_rust_string(utf16_str: *const u16, utf16_len: i32) { + let slice = std::slice::from_raw_parts(utf16_str, utf16_len as usize); + + let str = String::from_utf16(slice).unwrap(); + + println!("{}", str); +} + +#[no_mangle] +pub unsafe extern "C" fn csharp_to_rust_utf8(utf8_str: *const u8, utf8_len: i32) { + let slice = std::slice::from_raw_parts(utf8_str, utf8_len as usize); + let str = String::from_utf8_unchecked(slice.to_vec()); + println!("{}", str); +} + + +#[no_mangle] +pub unsafe extern "C" fn csharp_to_rust_bytes(bytes: *const u8, len: i32) { + let slice = std::slice::from_raw_parts(bytes, len as usize); + let vec = slice.to_vec(); + println!("{:?}", vec); +} + + + + #[no_mangle] pub extern "C" fn callback_test(cb: extern "C" fn(a: i32) -> i32) -> i32 { cb(100) @@ -46,11 +106,11 @@ pub extern "C" fn csharp_to_rust(cb: extern "C" fn(x: i32, y: i32) -> i32) { } #[no_mangle] -pub extern "C" fn rust_to_csharp() -> extern fn(x: i32, y: i32) -> i32 { +pub extern "C" fn rust_to_csharp() -> extern "C" fn(x: i32, y: i32) -> i32 { sum // return rust method } -extern "C" fn sum(x:i32, y:i32) -> i32 { +extern "C" fn sum(x: i32, y: i32) -> i32 { x + y } diff --git a/csbindgen-tests/src/quiche_ffi.rs b/csbindgen-tests/src/quiche_ffi.rs index 74d0fa4..f6772ca 100644 --- a/csbindgen-tests/src/quiche_ffi.rs +++ b/csbindgen-tests/src/quiche_ffi.rs @@ -3,7 +3,7 @@ #[allow(unused)] use ::std::os::raw::*; - +use super::quiche::*; #[no_mangle] @@ -18,7 +18,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_version( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_enable_debug_logging( - cb: Option, + cb: Option, argp: *mut c_void ) -> c_int { @@ -899,7 +899,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_close( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_trace_id( conn: *const quiche_conn, - out: *mut *mut u8, + out: *mut *const u8, out_len: *mut usize ) { @@ -913,7 +913,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_trace_id( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_source_id( conn: *const quiche_conn, - out: *mut *mut u8, + out: *mut *const u8, out_len: *mut usize ) { @@ -927,7 +927,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_source_id( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_destination_id( conn: *const quiche_conn, - out: *mut *mut u8, + out: *mut *const u8, out_len: *mut usize ) { @@ -941,7 +941,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_destination_id( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_application_proto( conn: *const quiche_conn, - out: *mut *mut u8, + out: *mut *const u8, out_len: *mut usize ) { @@ -955,7 +955,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_application_proto( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_peer_cert( conn: *const quiche_conn, - out: *mut *mut u8, + out: *mut *const u8, out_len: *mut usize ) { @@ -969,7 +969,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_peer_cert( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_session( conn: *const quiche_conn, - out: *mut *mut u8, + out: *mut *const u8, out_len: *mut usize ) { @@ -1065,7 +1065,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_peer_error( conn: *const quiche_conn, is_app: *mut bool, error_code: *mut u64, - reason: *mut *mut u8, + reason: *mut *const u8, reason_len: *mut usize ) -> bool { @@ -1083,7 +1083,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_local_error( conn: *const quiche_conn, is_app: *mut bool, error_code: *mut u64, - reason: *mut *mut u8, + reason: *mut *const u8, reason_len: *mut usize ) -> bool { @@ -1261,7 +1261,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_dgram_send( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_conn_dgram_purge_outgoing( conn: *mut quiche_conn, - f: Option bool> + f: Option bool> ) { quiche_conn_dgram_purge_outgoing( @@ -1427,7 +1427,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_h3_event_type( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_h3_event_for_each_header( ev: *mut quiche_h3_event, - cb: Option c_int>, + cb: Option c_int>, argp: *mut c_void ) -> c_int { @@ -1441,7 +1441,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_h3_event_for_each_header( #[no_mangle] pub unsafe extern "C" fn csbindgen_quiche_quiche_h3_for_each_setting( conn: *mut quiche_h3_conn, - cb: Option c_int>, + cb: Option c_int>, argp: *mut c_void ) -> c_int { @@ -1614,7 +1614,7 @@ pub unsafe extern "C" fn csbindgen_quiche_quiche_h3_send_priority_update_for_req pub unsafe extern "C" fn csbindgen_quiche_quiche_h3_take_last_priority_update( conn: *mut quiche_h3_conn, prioritized_element_id: u64, - cb: Option c_int>, + cb: Option c_int>, argp: *mut c_void ) -> c_int { diff --git a/csbindgen-tests/src/zstd_ffi.rs b/csbindgen-tests/src/zstd_ffi.rs index 744e6ca..e12eec0 100644 --- a/csbindgen-tests/src/zstd_ffi.rs +++ b/csbindgen-tests/src/zstd_ffi.rs @@ -3,7 +3,7 @@ #[allow(unused)] use ::std::os::raw::*; - +use super::zstd::*; #[no_mangle] diff --git a/csbindgen/Cargo.toml b/csbindgen/Cargo.toml index 09c239e..44ba37e 100644 --- a/csbindgen/Cargo.toml +++ b/csbindgen/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "csbindgen" -version = "1.0.0" +version = "1.1.0" edition = "2021" authors = [ "Yoshifumi Kawai ", diff --git a/csbindgen/src/parser.rs b/csbindgen/src/parser.rs index 7df6096..b93a58b 100644 --- a/csbindgen/src/parser.rs +++ b/csbindgen/src/parser.rs @@ -258,8 +258,7 @@ pub fn reduce_enum( fn parse_type(t: &syn::Type) -> RustType { match t { syn::Type::Ptr(t) => { - let has_const = t.const_token.is_some(); - // let has_mut = t.mutability.is_some(); + let has_const = t.const_token.is_some(); // not is has_mut if let syn::Type::Path(path) = &*t.elem { return RustType { @@ -272,13 +271,18 @@ fn parse_type(t: &syn::Type) -> RustType { }; } else if let syn::Type::Ptr(t) = &*t.elem { if let syn::Type::Path(path) = &*t.elem { + let has_const2 = t.const_token.is_some(); + + let pointer_type = match (has_const, has_const2) { + (true, true) => PointerType::ConstPointerPointer, + (true, false) => PointerType::ConstMutPointerPointer, + (false, true) => PointerType::MutConstPointerPointer, + (false, false) => PointerType::MutPointerPointer, + }; + return RustType { type_name: path.path.segments.last().unwrap().ident.to_string(), - type_kind: TypeKind::Pointer(if has_const { - PointerType::ConstPointerPointer - } else { - PointerType::MutPointerPointer - }), + type_kind: TypeKind::Pointer(pointer_type), }; } } @@ -345,7 +349,7 @@ fn parse_type(t: &syn::Type) -> RustType { }; return RustType { - type_name: "extern \"C\" fn".to_string(), + type_name: "unsafe extern \"C\" fn".to_string(), type_kind: TypeKind::Function(parameters, ret), }; } diff --git a/csbindgen/src/type_meta.rs b/csbindgen/src/type_meta.rs index f2f2d9a..70fb9ec 100644 --- a/csbindgen/src/type_meta.rs +++ b/csbindgen/src/type_meta.rs @@ -77,6 +77,8 @@ pub enum PointerType { MutPointer, ConstPointerPointer, MutPointerPointer, + ConstMutPointerPointer, + MutConstPointerPointer } #[derive(Clone, Debug)] @@ -103,6 +105,8 @@ impl RustType { MutPointer => sb.push_str("*mut"), ConstPointerPointer => sb.push_str("*const *const"), MutPointerPointer => sb.push_str("*mut *mut"), + ConstMutPointerPointer =>sb.push_str("*const *mut"), + MutConstPointerPointer =>sb.push_str("*mut *const"), }; } @@ -305,12 +309,13 @@ impl RustType { sb.push_str(convert_type_name(use_type.type_name.as_str())); if use_alias { + use PointerType::*; if let TypeKind::Pointer(p) = &use_type.type_kind { match p { - PointerType::MutPointer | PointerType::ConstPointer => { + MutPointer | ConstPointer => { sb.push('*'); } - PointerType::MutPointerPointer | PointerType::ConstPointerPointer => { + MutPointerPointer | ConstPointerPointer | MutConstPointerPointer | ConstMutPointerPointer => { sb.push_str("**"); } } @@ -318,11 +323,12 @@ impl RustType { } if let TypeKind::Pointer(p) = &self.type_kind { + use PointerType::*; match p { - PointerType::MutPointer | PointerType::ConstPointer => { + MutPointer | ConstPointer => { sb.push('*'); } - PointerType::MutPointerPointer | PointerType::ConstPointerPointer => { + MutPointerPointer | ConstPointerPointer | MutConstPointerPointer | ConstMutPointerPointer => { sb.push_str("**"); } } diff --git a/dotnet-sandbox/method_call.cs b/dotnet-sandbox/NativeMethods.cs similarity index 91% rename from dotnet-sandbox/method_call.cs rename to dotnet-sandbox/NativeMethods.cs index bf09e5d..bf4f2ee 100644 --- a/dotnet-sandbox/method_call.cs +++ b/dotnet-sandbox/NativeMethods.cs @@ -8,7 +8,7 @@ using System.Runtime.InteropServices; namespace CsBindgen { - internal static unsafe partial class LibRust + internal static unsafe partial class NativeMethods { const string __DllName = "csbindgen_tests"; @@ -21,6 +21,15 @@ namespace CsBindgen [DllImport(__DllName, EntryPoint = "nullpointer_test", CallingConvention = CallingConvention.Cdecl)] public static extern void nullpointer_test(byte* p); + [DllImport(__DllName, EntryPoint = "csharp_to_rust_string", CallingConvention = CallingConvention.Cdecl)] + public static extern void csharp_to_rust_string(ushort* utf16_str, int utf16_len); + + [DllImport(__DllName, EntryPoint = "csharp_to_rust_utf8", CallingConvention = CallingConvention.Cdecl)] + public static extern void csharp_to_rust_utf8(byte* utf8_str, int utf8_len); + + [DllImport(__DllName, EntryPoint = "csharp_to_rust_bytes", CallingConvention = CallingConvention.Cdecl)] + public static extern void csharp_to_rust_bytes(byte* bytes, int len); + [DllImport(__DllName, EntryPoint = "callback_test", CallingConvention = CallingConvention.Cdecl)] public static extern int callback_test(delegate* unmanaged[Cdecl] cb); diff --git a/dotnet-sandbox/Program.cs b/dotnet-sandbox/Program.cs index ce7534a..48a1e11 100644 --- a/dotnet-sandbox/Program.cs +++ b/dotnet-sandbox/Program.cs @@ -15,19 +15,44 @@ unsafe { - LibRust.alias_test1(null); - //LibRust.call_bindgen_lz4(); + //NativeMethods.call_bindgen_lz4(); + + + var str = "foobarbaz:あいうえお"; // JPN(Unicode) + fixed (char* p = str) + { + NativeMethods.csharp_to_rust_string((ushort*)p, str.Length); + } + + var str2 = Encoding.UTF8.GetBytes("あいうえお:foobarbaz"); + fixed (byte* p = str2) + { + NativeMethods.csharp_to_rust_utf8(p, str2.Length); + } + + var bytes = new byte[] { 1, 10, 100, 255 }; + fixed (byte* p = bytes) + { + NativeMethods.csharp_to_rust_bytes(p, bytes.Length); + } + + + + //NativeMethods.csharp_to_rust_utf8 + //NativeMethods.alias_test1(null); + + // C# -> Rust, pass static UnmanagedCallersOnly method with `&` [UnmanagedCallersOnly(CallConvs = new[] { typeof(CallConvCdecl) })] static int Sum(int x, int y) => x + y; - LibRust.csharp_to_rust(&Sum); + NativeMethods.csharp_to_rust(&Sum); // Rust -> C#, get typed delegate* - var f = LibRust.rust_to_csharp(); + var f = NativeMethods.rust_to_csharp(); var v = f(20, 30); Console.WriteLine(v); // 50 @@ -49,18 +74,18 @@ unsafe //Console.WriteLine(cc); - var context = LibRust.create_context(); + // var context = LibRust.create_context(); - // do anything... + // // do anything... - LibRust.delete_context(context); + // LibRust.delete_context(context); - var ctx = LibRust.create_counter_context(); // ctx = void* - - LibRust.insert_counter_context(ctx, 10); - LibRust.insert_counter_context(ctx, 20); + //var ctx = LibRust.create_counter_context(); // ctx = void* - LibRust.delete_counter_context(ctx); + //LibRust.insert_counter_context(ctx, 10); + //LibRust.insert_counter_context(ctx, 20); + + //LibRust.delete_counter_context(ctx); //LibRust.insert_counter_context(ctx, 20); //LibRust.insert_counter_context(ctx, 30); diff --git a/dotnet-sandbox/bullet3_bindgen.cs b/dotnet-sandbox/bullet3_bindgen.cs index 141e6ba..c05ff40 100644 --- a/dotnet-sandbox/bullet3_bindgen.cs +++ b/dotnet-sandbox/bullet3_bindgen.cs @@ -12,1370 +12,1370 @@ namespace CsBindgen { const string __DllName = "libbullet3"; - [DllImport(__DllName, EntryPoint = "b3ConnectSharedMemory", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConnectSharedMemory", CallingConvention = CallingConvention.Cdecl)] public static extern b3PhysicsClientHandle__* b3ConnectSharedMemory(int key); - [DllImport(__DllName, EntryPoint = "b3ConnectSharedMemory2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConnectSharedMemory2", CallingConvention = CallingConvention.Cdecl)] public static extern b3PhysicsClientHandle__* b3ConnectSharedMemory2(int key); /// think more about naming. Directly execute commands without transport (no shared memory, UDP, socket, grpc etc) - [DllImport(__DllName, EntryPoint = "b3ConnectPhysicsDirect", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConnectPhysicsDirect", CallingConvention = CallingConvention.Cdecl)] public static extern b3PhysicsClientHandle__* b3ConnectPhysicsDirect(); /// b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory. - [DllImport(__DllName, EntryPoint = "b3DisconnectSharedMemory", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3DisconnectSharedMemory", CallingConvention = CallingConvention.Cdecl)] public static extern void b3DisconnectSharedMemory(b3PhysicsClientHandle__* physClient); /// There can only be 1 outstanding command. Check if a command can be send. - [DllImport(__DllName, EntryPoint = "b3CanSubmitCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CanSubmitCommand", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CanSubmitCommand(b3PhysicsClientHandle__* physClient); /// blocking submit command and wait for status - [DllImport(__DllName, EntryPoint = "b3SubmitClientCommandAndWaitStatus", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SubmitClientCommandAndWaitStatus", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryStatusHandle__* b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle); /// In general it is better to use b3SubmitClientCommandAndWaitStatus. b3SubmitClientCommand is a non-blocking submitcommand, which requires checking for the status manually, using b3ProcessServerStatus. Also, before sending thenext command, make sure to check if you can send a command using 'b3CanSubmitCommand'. - [DllImport(__DllName, EntryPoint = "b3SubmitClientCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SubmitClientCommand", CallingConvention = CallingConvention.Cdecl)] public static extern int b3SubmitClientCommand(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle); /// non-blocking check status - [DllImport(__DllName, EntryPoint = "b3ProcessServerStatus", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ProcessServerStatus", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryStatusHandle__* b3ProcessServerStatus(b3PhysicsClientHandle__* physClient); /// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes. - [DllImport(__DllName, EntryPoint = "b3GetStatusType", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusType", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusType(b3SharedMemoryStatusHandle__* statusHandle); /// Plugin system, load and unload a plugin, execute a command - [DllImport(__DllName, EntryPoint = "b3CreateCustomCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCustomCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreateCustomCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3CustomCommandLoadPlugin", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CustomCommandLoadPlugin", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle__* commandHandle, byte* pluginPath); - [DllImport(__DllName, EntryPoint = "b3CustomCommandLoadPluginSetPostFix", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CustomCommandLoadPluginSetPostFix", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CustomCommandLoadPluginSetPostFix(b3SharedMemoryCommandHandle__* commandHandle, byte* postFix); - [DllImport(__DllName, EntryPoint = "b3GetStatusPluginUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusPluginUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - [DllImport(__DllName, EntryPoint = "b3GetStatusPluginCommandResult", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusPluginCommandResult", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle__* statusHandle); - [DllImport(__DllName, EntryPoint = "b3GetStatusPluginCommandReturnData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusPluginCommandReturnData", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusPluginCommandReturnData(b3PhysicsClientHandle__* physClient, b3UserDataValue* valueOut); - [DllImport(__DllName, EntryPoint = "b3CustomCommandUnloadPlugin", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CustomCommandUnloadPlugin", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle__* commandHandle, int pluginUniqueId); - [DllImport(__DllName, EntryPoint = "b3CustomCommandExecutePluginCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CustomCommandExecutePluginCommand", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle__* commandHandle, int pluginUniqueId, byte* textArguments); - [DllImport(__DllName, EntryPoint = "b3CustomCommandExecuteAddIntArgument", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CustomCommandExecuteAddIntArgument", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle__* commandHandle, int intVal); - [DllImport(__DllName, EntryPoint = "b3CustomCommandExecuteAddFloatArgument", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CustomCommandExecuteAddFloatArgument", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CustomCommandExecuteAddFloatArgument(b3SharedMemoryCommandHandle__* commandHandle, float floatVal); - [DllImport(__DllName, EntryPoint = "b3GetStatusBodyIndices", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusBodyIndices", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle__* statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity); - [DllImport(__DllName, EntryPoint = "b3GetStatusBodyIndex", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusBodyIndex", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle__* statusHandle); - [DllImport(__DllName, EntryPoint = "b3GetStatusActualState", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusActualState", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusActualState(b3SharedMemoryStatusHandle__* statusHandle, int* bodyUniqueId, int* numDegreeOfFreedomQ, int* numDegreeOfFreedomU, double** rootLocalInertialFrame, double** actualStateQ, double** actualStateQdot, double** jointReactionForces); - [DllImport(__DllName, EntryPoint = "b3GetStatusActualState2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusActualState2", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusActualState2(b3SharedMemoryStatusHandle__* statusHandle, int* bodyUniqueId, int* numLinks, int* numDegreeOfFreedomQ, int* numDegreeOfFreedomU, double** rootLocalInertialFrame, double** actualStateQ, double** actualStateQdot, double** jointReactionForces, double** linkLocalInertialFrames, double** jointMotorForces, double** linkStates, double** linkWorldVelocities); - [DllImport(__DllName, EntryPoint = "b3RequestCollisionInfoCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCollisionInfoCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3RequestCollisionInfoCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3GetStatusAABB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusAABB", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusAABB(b3SharedMemoryStatusHandle__* statusHandle, int linkIndex, double* aabbMin, double* aabbMax); /// If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc. - [DllImport(__DllName, EntryPoint = "b3InitSyncBodyInfoCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitSyncBodyInfoCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitSyncBodyInfoCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitRequestBodyInfoCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRequestBodyInfoCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRequestBodyInfoCommand(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3InitRemoveBodyCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRemoveBodyCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRemoveBodyCommand(b3PhysicsClientHandle__* physClient, int bodyUniqueId); /// return the total number of bodies in the simulation - [DllImport(__DllName, EntryPoint = "b3GetNumBodies", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetNumBodies", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetNumBodies(b3PhysicsClientHandle__* physClient); /// return the body unique id, given the index in range [0 , b3GetNumBodies() ) - [DllImport(__DllName, EntryPoint = "b3GetBodyUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetBodyUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetBodyUniqueId(b3PhysicsClientHandle__* physClient, int serialIndex); /// given a body unique id, return the body information. See b3BodyInfo in SharedMemoryPublic.h - [DllImport(__DllName, EntryPoint = "b3GetBodyInfo", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetBodyInfo", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetBodyInfo(b3PhysicsClientHandle__* physClient, int bodyUniqueId, b3BodyInfo* info); /// give a unique body index (after loading the body) return the number of joints. - [DllImport(__DllName, EntryPoint = "b3GetNumJoints", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetNumJoints", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetNumJoints(b3PhysicsClientHandle__* physClient, int bodyUniqueId); /// give a unique body index (after loading the body) return the number of degrees of freedom (DoF). - [DllImport(__DllName, EntryPoint = "b3GetNumDofs", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetNumDofs", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetNumDofs(b3PhysicsClientHandle__* physClient, int bodyUniqueId); /// compute the number of degrees of freedom for this body.Return -1 for unsupported spherical joint, -2 for unsupported planar joint. - [DllImport(__DllName, EntryPoint = "b3ComputeDofCount", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ComputeDofCount", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ComputeDofCount(b3PhysicsClientHandle__* physClient, int bodyUniqueId); /// given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h - [DllImport(__DllName, EntryPoint = "b3GetJointInfo", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetJointInfo", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetJointInfo(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int jointIndex, b3JointInfo* info); /// user data handling - [DllImport(__DllName, EntryPoint = "b3InitSyncUserDataCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitSyncUserDataCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitSyncUserDataCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3AddBodyToSyncUserDataRequest", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3AddBodyToSyncUserDataRequest", CallingConvention = CallingConvention.Cdecl)] public static extern void b3AddBodyToSyncUserDataRequest(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3InitAddUserDataCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitAddUserDataCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitAddUserDataCommand(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, byte* key, int valueType, int valueLength, void* valueData); - [DllImport(__DllName, EntryPoint = "b3InitRemoveUserDataCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRemoveUserDataCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRemoveUserDataCommand(b3PhysicsClientHandle__* physClient, int userDataId); - [DllImport(__DllName, EntryPoint = "b3GetUserData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetUserData", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetUserData(b3PhysicsClientHandle__* physClient, int userDataId, b3UserDataValue* valueOut); - [DllImport(__DllName, EntryPoint = "b3GetUserDataId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetUserDataId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetUserDataId(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, byte* key); - [DllImport(__DllName, EntryPoint = "b3GetUserDataIdFromStatus", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetUserDataIdFromStatus", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetUserDataIdFromStatus(b3SharedMemoryStatusHandle__* statusHandle); - [DllImport(__DllName, EntryPoint = "b3GetNumUserData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetNumUserData", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetNumUserData(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3GetUserDataInfo", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetUserDataInfo", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetUserDataInfo(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int userDataIndex, byte** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut); - [DllImport(__DllName, EntryPoint = "b3GetDynamicsInfoCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetDynamicsInfoCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex); - [DllImport(__DllName, EntryPoint = "b3GetDynamicsInfoCommandInit2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetDynamicsInfoCommandInit2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3GetDynamicsInfoCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex); /// given a body unique id and link index, return the dynamics information. See b3DynamicsInfo in SharedMemoryPublic.h - [DllImport(__DllName, EntryPoint = "b3GetDynamicsInfo", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetDynamicsInfo", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetDynamicsInfo(b3SharedMemoryStatusHandle__* statusHandle, b3DynamicsInfo* info); - [DllImport(__DllName, EntryPoint = "b3InitChangeDynamicsInfo", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeDynamicsInfo", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitChangeDynamicsInfo(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitChangeDynamicsInfo2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeDynamicsInfo2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitChangeDynamicsInfo2(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetMass", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetMass", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double mass); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetLocalInertiaDiagonal", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetLocalInertiaDiagonal", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double* localInertiaDiagonal); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetAnisotropicFriction", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetAnisotropicFriction", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetAnisotropicFriction(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double* anisotropicFriction); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetJointLimit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetJointLimit", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetJointLimit(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double jointLowerLimit, double jointUpperLimit); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetJointLimitForce", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetJointLimitForce", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double jointLimitForce); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetDynamicType", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetDynamicType", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, int dynamicType); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetSleepThreshold", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetSleepThreshold", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetSleepThreshold(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double sleepThreshold); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetLateralFriction", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetLateralFriction", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetSpinningFriction", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetSpinningFriction", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double friction); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetRollingFriction", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetRollingFriction", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double friction); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetRestitution", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetRestitution", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double restitution); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetLinearDamping", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetLinearDamping", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double linearDamping); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetAngularDamping", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetAngularDamping", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double angularDamping); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetJointDamping", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetJointDamping", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetJointDamping(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double jointDamping); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetContactStiffnessAndDamping", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetContactStiffnessAndDamping", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double contactStiffness, double contactDamping); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetFrictionAnchor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetFrictionAnchor", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, int frictionAnchor); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetCcdSweptSphereRadius", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetCcdSweptSphereRadius", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double ccdSweptSphereRadius); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetContactProcessingThreshold", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetContactProcessingThreshold", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double contactProcessingThreshold); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetActivationState", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetActivationState", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int activationState); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetMaxJointVelocity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetMaxJointVelocity", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetMaxJointVelocity(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double maxJointVelocity); - [DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetCollisionMargin", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ChangeDynamicsInfoSetCollisionMargin", CallingConvention = CallingConvention.Cdecl)] public static extern int b3ChangeDynamicsInfoSetCollisionMargin(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double collisionMargin); - [DllImport(__DllName, EntryPoint = "b3InitCreateUserConstraintCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitCreateUserConstraintCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitCreateUserConstraintCommand(b3PhysicsClientHandle__* physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, b3JointInfo* info); - [DllImport(__DllName, EntryPoint = "b3InitCreateUserConstraintCommand2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitCreateUserConstraintCommand2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitCreateUserConstraintCommand2(b3SharedMemoryCommandHandle__* commandHandle, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, b3JointInfo* info); /// return a unique id for the user constraint, after successful creation, or -1 for an invalid constraint id - [DllImport(__DllName, EntryPoint = "b3GetStatusUserConstraintUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusUserConstraintUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle__* statusHandle); /// change parameters of an existing user constraint - [DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeUserConstraintCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitChangeUserConstraintCommand(b3PhysicsClientHandle__* physClient, int userConstraintUniqueId); - [DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetPivotInB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeUserConstraintSetPivotInB", CallingConvention = CallingConvention.Cdecl)] public static extern int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle__* commandHandle, double* jointChildPivot); - [DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetFrameInB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeUserConstraintSetFrameInB", CallingConvention = CallingConvention.Cdecl)] public static extern int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle__* commandHandle, double* jointChildFrameOrn); - [DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetMaxForce", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeUserConstraintSetMaxForce", CallingConvention = CallingConvention.Cdecl)] public static extern int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle__* commandHandle, double maxAppliedForce); - [DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetGearRatio", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeUserConstraintSetGearRatio", CallingConvention = CallingConvention.Cdecl)] public static extern int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle__* commandHandle, double gearRatio); - [DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetGearAuxLink", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeUserConstraintSetGearAuxLink", CallingConvention = CallingConvention.Cdecl)] public static extern int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle__* commandHandle, int gearAuxLink); - [DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetRelativePositionTarget", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeUserConstraintSetRelativePositionTarget", CallingConvention = CallingConvention.Cdecl)] public static extern int b3InitChangeUserConstraintSetRelativePositionTarget(b3SharedMemoryCommandHandle__* commandHandle, double relativePositionTarget); - [DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetERP", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitChangeUserConstraintSetERP", CallingConvention = CallingConvention.Cdecl)] public static extern int b3InitChangeUserConstraintSetERP(b3SharedMemoryCommandHandle__* commandHandle, double erp); - [DllImport(__DllName, EntryPoint = "b3InitRemoveUserConstraintCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRemoveUserConstraintCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle__* physClient, int userConstraintUniqueId); - [DllImport(__DllName, EntryPoint = "b3GetNumUserConstraints", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetNumUserConstraints", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetNumUserConstraints(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitGetUserConstraintStateCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitGetUserConstraintStateCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitGetUserConstraintStateCommand(b3PhysicsClientHandle__* physClient, int constraintUniqueId); - [DllImport(__DllName, EntryPoint = "b3GetStatusUserConstraintState", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusUserConstraintState", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusUserConstraintState(b3SharedMemoryStatusHandle__* statusHandle, b3UserConstraintState* constraintState); - [DllImport(__DllName, EntryPoint = "b3GetUserConstraintInfo", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetUserConstraintInfo", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetUserConstraintInfo(b3PhysicsClientHandle__* physClient, int constraintUniqueId, b3UserConstraint* info); /// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() ) - [DllImport(__DllName, EntryPoint = "b3GetUserConstraintId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetUserConstraintId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetUserConstraintId(b3PhysicsClientHandle__* physClient, int serialIndex); /// Request physics debug lines for debug visualization. The flags in debugMode are the same as used in BulletSee btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h - [DllImport(__DllName, EntryPoint = "b3InitRequestDebugLinesCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRequestDebugLinesCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRequestDebugLinesCommand(b3PhysicsClientHandle__* physClient, int debugMode); /// Get the pointers to the physics debug line information, after b3InitRequestDebugLinesCommand returnsstatus CMD_DEBUG_LINES_COMPLETED - [DllImport(__DllName, EntryPoint = "b3GetDebugLines", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetDebugLines", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetDebugLines(b3PhysicsClientHandle__* physClient, b3DebugLines* lines); /// configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc) - [DllImport(__DllName, EntryPoint = "b3InitConfigureOpenGLVisualizer", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitConfigureOpenGLVisualizer", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitConfigureOpenGLVisualizer2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitConfigureOpenGLVisualizer2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitConfigureOpenGLVisualizer2(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetVisualizationFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConfigureOpenGLVisualizerSetVisualizationFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle__* commandHandle, int flag, int enabled); - [DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetLightPosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConfigureOpenGLVisualizerSetLightPosition", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle__* commandHandle, float* lightPosition); - [DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetShadowMapResolution", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConfigureOpenGLVisualizerSetShadowMapResolution", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle__* commandHandle, int shadowMapResolution); - [DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetShadowMapIntensity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConfigureOpenGLVisualizerSetShadowMapIntensity", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ConfigureOpenGLVisualizerSetShadowMapIntensity(b3SharedMemoryCommandHandle__* commandHandle, double shadowMapIntensity); - [DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetLightRgbBackground", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConfigureOpenGLVisualizerSetLightRgbBackground", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ConfigureOpenGLVisualizerSetLightRgbBackground(b3SharedMemoryCommandHandle__* commandHandle, float* rgbBackground); - [DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetShadowMapWorldSize", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConfigureOpenGLVisualizerSetShadowMapWorldSize", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle__* commandHandle, int shadowMapWorldSize); - [DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle__* commandHandle, double remoteSyncTransformInterval); - [DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetViewMatrix", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ConfigureOpenGLVisualizerSetViewMatrix", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle__* commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, float* cameraTargetPosition); - [DllImport(__DllName, EntryPoint = "b3InitRequestOpenGLVisualizerCameraCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRequestOpenGLVisualizerCameraCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3GetStatusOpenGLVisualizerCamera", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusOpenGLVisualizerCamera", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle__* statusHandle, b3OpenGLVisualizerCameraInfo* camera); /// Add/remove user-specific debug lines and debug text messages - [DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawAddLine3D", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUserDebugDrawAddLine3D", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle__* physClient, double* fromXYZ, double* toXYZ, double* colorRGB, double lineWidth, double lifeTime); - [DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawAddPoints3D", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUserDebugDrawAddPoints3D", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawAddPoints3D(b3PhysicsClientHandle__* physClient, double* positionsXYZ, double* colorsRGB, double pointSize, double lifeTime, int pointNum); - [DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawAddText3D", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUserDebugDrawAddText3D", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle__* physClient, byte* txt, double* positionXYZ, double* colorRGB, double textSize, double lifeTime); - [DllImport(__DllName, EntryPoint = "b3UserDebugTextSetOptionFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3UserDebugTextSetOptionFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle__* commandHandle, int optionFlags); - [DllImport(__DllName, EntryPoint = "b3UserDebugTextSetOrientation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3UserDebugTextSetOrientation", CallingConvention = CallingConvention.Cdecl)] public static extern void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle__* commandHandle, double* orientation); - [DllImport(__DllName, EntryPoint = "b3UserDebugItemSetReplaceItemUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3UserDebugItemSetReplaceItemUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern void b3UserDebugItemSetReplaceItemUniqueId(b3SharedMemoryCommandHandle__* commandHandle, int replaceItem); - [DllImport(__DllName, EntryPoint = "b3UserDebugItemSetParentObject", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3UserDebugItemSetParentObject", CallingConvention = CallingConvention.Cdecl)] public static extern void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId, int linkIndex); - [DllImport(__DllName, EntryPoint = "b3InitUserDebugAddParameter", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUserDebugAddParameter", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugAddParameter(b3PhysicsClientHandle__* physClient, byte* txt, double rangeMin, double rangeMax, double startValue); - [DllImport(__DllName, EntryPoint = "b3InitUserDebugReadParameter", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUserDebugReadParameter", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugReadParameter(b3PhysicsClientHandle__* physClient, int debugItemUniqueId); - [DllImport(__DllName, EntryPoint = "b3GetStatusDebugParameterValue", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusDebugParameterValue", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusDebugParameterValue(b3SharedMemoryStatusHandle__* statusHandle, double* paramValue); - [DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawRemove", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUserDebugDrawRemove", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawRemove(b3PhysicsClientHandle__* physClient, int debugItemUniqueId); - [DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawRemoveAll", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUserDebugDrawRemoveAll", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitUserRemoveAllParameters", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUserRemoveAllParameters", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUserRemoveAllParameters(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitDebugDrawingCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitDebugDrawingCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitDebugDrawingCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3SetDebugObjectColor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetDebugObjectColor", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetDebugObjectColor(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId, int linkIndex, double* objectColorRGB); - [DllImport(__DllName, EntryPoint = "b3RemoveDebugObjectColor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RemoveDebugObjectColor", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId, int linkIndex); /// All debug items unique Ids are positive: a negative unique Id means failure. - [DllImport(__DllName, EntryPoint = "b3GetDebugItemUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetDebugItemUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle__* statusHandle); /// request an image from a simulated camera, using a software renderer. - [DllImport(__DllName, EntryPoint = "b3InitRequestCameraImage", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRequestCameraImage", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRequestCameraImage(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitRequestCameraImage2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRequestCameraImage2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRequestCameraImage2(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetCameraMatrices", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetCameraMatrices", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle__* commandHandle, float* viewMatrix, float* projectionMatrix); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetPixelResolution", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetPixelResolution", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle__* commandHandle, int width, int height); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightDirection", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetLightDirection", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle__* commandHandle, float* lightDirection); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightColor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetLightColor", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle__* commandHandle, float* lightColor); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightDistance", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetLightDistance", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle__* commandHandle, float lightDistance); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightAmbientCoeff", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetLightAmbientCoeff", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetLightAmbientCoeff(b3SharedMemoryCommandHandle__* commandHandle, float lightAmbientCoeff); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightDiffuseCoeff", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetLightDiffuseCoeff", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetLightDiffuseCoeff(b3SharedMemoryCommandHandle__* commandHandle, float lightDiffuseCoeff); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightSpecularCoeff", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetLightSpecularCoeff", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetLightSpecularCoeff(b3SharedMemoryCommandHandle__* commandHandle, float lightSpecularCoeff); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetShadow", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetShadow", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle__* commandHandle, int hasShadow); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSelectRenderer", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSelectRenderer", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle__* commandHandle, int renderer); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - [DllImport(__DllName, EntryPoint = "b3GetCameraImageData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetCameraImageData", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetCameraImageData(b3PhysicsClientHandle__* physClient, b3CameraImageData* imageData); /// set projective texture camera matrices. - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetProjectiveTextureMatrices", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetProjectiveTextureMatrices", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetProjectiveTextureMatrices(b3SharedMemoryCommandHandle__* commandHandle, float* viewMatrix, float* projectionMatrix); /// compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices - [DllImport(__DllName, EntryPoint = "b3ComputeViewMatrixFromPositions", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ComputeViewMatrixFromPositions", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ComputeViewMatrixFromPositions(float* cameraPosition, float* cameraTargetPosition, float* cameraUp, float* viewMatrix); - [DllImport(__DllName, EntryPoint = "b3ComputeViewMatrixFromYawPitchRoll", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ComputeViewMatrixFromYawPitchRoll", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ComputeViewMatrixFromYawPitchRoll(float* cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis, float* viewMatrix); - [DllImport(__DllName, EntryPoint = "b3ComputePositionFromViewMatrix", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ComputePositionFromViewMatrix", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ComputePositionFromViewMatrix(float* viewMatrix, float* cameraPosition, float* cameraTargetPosition, float* cameraUp); /// compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices - [DllImport(__DllName, EntryPoint = "b3ComputeProjectionMatrix", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ComputeProjectionMatrix", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float* projectionMatrix); - [DllImport(__DllName, EntryPoint = "b3ComputeProjectionMatrixFOV", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ComputeProjectionMatrixFOV", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, float* projectionMatrix); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetViewMatrix", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetViewMatrix", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle__* commandHandle, float* cameraPosition, float* cameraTargetPosition, float* cameraUp); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetViewMatrix2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetViewMatrix2", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle__* commandHandle, float* cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetProjectionMatrix", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetProjectionMatrix", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle__* commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal); - [DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetFOVProjectionMatrix", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestCameraImageSetFOVProjectionMatrix", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle__* commandHandle, float fov, float aspect, float nearVal, float farVal); /// request an contact point information - [DllImport(__DllName, EntryPoint = "b3InitRequestContactPointInformation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRequestContactPointInformation", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRequestContactPointInformation(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3SetContactFilterBodyA", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetContactFilterBodyA", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdA); - [DllImport(__DllName, EntryPoint = "b3SetContactFilterBodyB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetContactFilterBodyB", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdB); - [DllImport(__DllName, EntryPoint = "b3SetContactFilterLinkA", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetContactFilterLinkA", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexA); - [DllImport(__DllName, EntryPoint = "b3SetContactFilterLinkB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetContactFilterLinkB", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexB); - [DllImport(__DllName, EntryPoint = "b3GetContactPointInformation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetContactPointInformation", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetContactPointInformation(b3PhysicsClientHandle__* physClient, b3ContactInformation* contactPointData); /// compute the closest points between two bodies - [DllImport(__DllName, EntryPoint = "b3InitClosestDistanceQuery", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitClosestDistanceQuery", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitClosestDistanceQuery(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterBodyA", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterBodyA", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdA); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterLinkA", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterLinkA", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexA); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterBodyB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterBodyB", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdB); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterLinkB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterLinkB", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexB); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceThreshold", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceThreshold", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle__* commandHandle, double distance); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapeA", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterCollisionShapeA", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterCollisionShapeA(b3SharedMemoryCommandHandle__* commandHandle, int collisionShapeA); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapeB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterCollisionShapeB", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterCollisionShapeB(b3SharedMemoryCommandHandle__* commandHandle, int collisionShapeB); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapePositionA", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterCollisionShapePositionA", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterCollisionShapePositionA(b3SharedMemoryCommandHandle__* commandHandle, double* collisionShapePositionA); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapePositionB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterCollisionShapePositionB", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterCollisionShapePositionB(b3SharedMemoryCommandHandle__* commandHandle, double* collisionShapePositionB); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapeOrientationA", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterCollisionShapeOrientationA", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterCollisionShapeOrientationA(b3SharedMemoryCommandHandle__* commandHandle, double* collisionShapeOrientationA); - [DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapeOrientationB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetClosestDistanceFilterCollisionShapeOrientationB", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetClosestDistanceFilterCollisionShapeOrientationB(b3SharedMemoryCommandHandle__* commandHandle, double* collisionShapeOrientationB); - [DllImport(__DllName, EntryPoint = "b3GetClosestPointInformation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetClosestPointInformation", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetClosestPointInformation(b3PhysicsClientHandle__* physClient, b3ContactInformation* contactPointInfo); /// get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates) - [DllImport(__DllName, EntryPoint = "b3InitAABBOverlapQuery", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitAABBOverlapQuery", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitAABBOverlapQuery(b3PhysicsClientHandle__* physClient, double* aabbMin, double* aabbMax); - [DllImport(__DllName, EntryPoint = "b3GetAABBOverlapResults", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetAABBOverlapResults", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetAABBOverlapResults(b3PhysicsClientHandle__* physClient, b3AABBOverlapData* data); - [DllImport(__DllName, EntryPoint = "b3InitRequestVisualShapeInformation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRequestVisualShapeInformation", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRequestVisualShapeInformation(b3PhysicsClientHandle__* physClient, int bodyUniqueIdA); - [DllImport(__DllName, EntryPoint = "b3GetVisualShapeInformation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetVisualShapeInformation", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetVisualShapeInformation(b3PhysicsClientHandle__* physClient, b3VisualShapeInformation* visualShapeInfo); - [DllImport(__DllName, EntryPoint = "b3InitRequestCollisionShapeInformation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRequestCollisionShapeInformation", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRequestCollisionShapeInformation(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex); - [DllImport(__DllName, EntryPoint = "b3GetCollisionShapeInformation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetCollisionShapeInformation", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetCollisionShapeInformation(b3PhysicsClientHandle__* physClient, b3CollisionShapeInformation* collisionShapeInfo); - [DllImport(__DllName, EntryPoint = "b3InitLoadTexture", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitLoadTexture", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitLoadTexture(b3PhysicsClientHandle__* physClient, byte* filename); - [DllImport(__DllName, EntryPoint = "b3GetStatusTextureUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusTextureUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - [DllImport(__DllName, EntryPoint = "b3CreateChangeTextureCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateChangeTextureCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreateChangeTextureCommandInit(b3PhysicsClientHandle__* physClient, int textureUniqueId, int width, int height, byte* rgbPixels); - [DllImport(__DllName, EntryPoint = "b3InitUpdateVisualShape", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUpdateVisualShape", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUpdateVisualShape(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); - [DllImport(__DllName, EntryPoint = "b3InitUpdateVisualShape2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitUpdateVisualShape2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitUpdateVisualShape2(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int jointIndex, int shapeIndex); - [DllImport(__DllName, EntryPoint = "b3UpdateVisualShapeTexture", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3UpdateVisualShapeTexture", CallingConvention = CallingConvention.Cdecl)] public static extern void b3UpdateVisualShapeTexture(b3SharedMemoryCommandHandle__* commandHandle, int textureUniqueId); - [DllImport(__DllName, EntryPoint = "b3UpdateVisualShapeRGBAColor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3UpdateVisualShapeRGBAColor", CallingConvention = CallingConvention.Cdecl)] public static extern void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle__* commandHandle, double* rgbaColor); - [DllImport(__DllName, EntryPoint = "b3UpdateVisualShapeFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3UpdateVisualShapeFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3UpdateVisualShapeFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - [DllImport(__DllName, EntryPoint = "b3UpdateVisualShapeSpecularColor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3UpdateVisualShapeSpecularColor", CallingConvention = CallingConvention.Cdecl)] public static extern void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle__* commandHandle, double* specularColor); - [DllImport(__DllName, EntryPoint = "b3InitPhysicsParamCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitPhysicsParamCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitPhysicsParamCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitPhysicsParamCommand2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitPhysicsParamCommand2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitPhysicsParamCommand2(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetGravity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetGravity", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle__* commandHandle, double gravx, double gravy, double gravz); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetTimeStep", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetTimeStep", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle__* commandHandle, double timeStep); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultContactERP", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetDefaultContactERP", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle__* commandHandle, double defaultContactERP); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultNonContactERP", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetDefaultNonContactERP", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle__* commandHandle, double defaultNonContactERP); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultFrictionERP", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetDefaultFrictionERP", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle__* commandHandle, double frictionERP); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultGlobalCFM", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetDefaultGlobalCFM", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetDefaultGlobalCFM(b3SharedMemoryCommandHandle__* commandHandle, double defaultGlobalCFM); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultFrictionCFM", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetDefaultFrictionCFM", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandle__* commandHandle, double frictionCFM); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetNumSubSteps", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetNumSubSteps", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle__* commandHandle, int numSubSteps); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetRealTimeSimulation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetRealTimeSimulation", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle__* commandHandle, int enableRealTimeSimulation); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetNumSolverIterations", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetNumSolverIterations", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle__* commandHandle, int numSolverIterations); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetNumNonContactInnerIterations", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetNumNonContactInnerIterations", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetNumNonContactInnerIterations(b3SharedMemoryCommandHandle__* commandHandle, int numMotorIterations); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetWarmStartingFactor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetWarmStartingFactor", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle__* commandHandle, double warmStartingFactor); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetArticulatedWarmStartingFactor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetArticulatedWarmStartingFactor", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle__* commandHandle, double warmStartingFactor); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetCollisionFilterMode", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetCollisionFilterMode", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle__* commandHandle, int filterMode); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetUseSplitImpulse", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetUseSplitImpulse", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle__* commandHandle, int useSplitImpulse); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetSplitImpulsePenetrationThreshold", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetSplitImpulsePenetrationThreshold", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle__* commandHandle, double splitImpulsePenetrationThreshold); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetContactBreakingThreshold", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetContactBreakingThreshold", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle__* commandHandle, double contactBreakingThreshold); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetMaxNumCommandsPer1ms", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetMaxNumCommandsPer1ms", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle__* commandHandle, int maxNumCmdPer1ms); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetEnableFileCaching", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetEnableFileCaching", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle__* commandHandle, int enableFileCaching); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetRestitutionVelocityThreshold", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetRestitutionVelocityThreshold", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle__* commandHandle, double restitutionVelocityThreshold); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetEnableConeFriction", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetEnableConeFriction", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle__* commandHandle, int enableConeFriction); - [DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetDeterministicOverlappingPairs", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParameterSetDeterministicOverlappingPairs", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParameterSetDeterministicOverlappingPairs(b3SharedMemoryCommandHandle__* commandHandle, int deterministicOverlappingPairs); - [DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetAllowedCcdPenetration", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParameterSetAllowedCcdPenetration", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryCommandHandle__* commandHandle, double allowedCcdPenetration); - [DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetJointFeedbackMode", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParameterSetJointFeedbackMode", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParameterSetJointFeedbackMode(b3SharedMemoryCommandHandle__* commandHandle, int jointFeedbackMode); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetSolverResidualThreshold", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetSolverResidualThreshold", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle__* commandHandle, double solverResidualThreshold); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetContactSlop", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetContactSlop", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetContactSlop(b3SharedMemoryCommandHandle__* commandHandle, double contactSlop); - [DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetEnableSAT", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParameterSetEnableSAT", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParameterSetEnableSAT(b3SharedMemoryCommandHandle__* commandHandle, int enableSAT); - [DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetConstraintSolverType", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParameterSetConstraintSolverType", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle__* commandHandle, int constraintSolverType); - [DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetMinimumSolverIslandSize", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParameterSetMinimumSolverIslandSize", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParameterSetMinimumSolverIslandSize(b3SharedMemoryCommandHandle__* commandHandle, int minimumSolverIslandSize); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetSolverAnalytics", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetSolverAnalytics", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetSolverAnalytics(b3SharedMemoryCommandHandle__* commandHandle, int reportSolverAnalytics); - [DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetSparseSdfVoxelSize", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParameterSetSparseSdfVoxelSize", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParameterSetSparseSdfVoxelSize(b3SharedMemoryCommandHandle__* commandHandle, double sparseSdfVoxelSize); - [DllImport(__DllName, EntryPoint = "b3InitRequestPhysicsParamCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRequestPhysicsParamCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3GetStatusPhysicsSimulationParameters", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusPhysicsSimulationParameters", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusPhysicsSimulationParameters(b3SharedMemoryStatusHandle__* statusHandle, b3PhysicsSimulationParameters* @params); - [DllImport(__DllName, EntryPoint = "b3PhysicsParamSetInternalSimFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PhysicsParamSetInternalSimFlags", CallingConvention = CallingConvention.Cdecl)] public static extern int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - [DllImport(__DllName, EntryPoint = "b3InitStepSimulationCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitStepSimulationCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitStepSimulationCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitStepSimulationCommand2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitStepSimulationCommand2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3InitPerformCollisionDetectionCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitPerformCollisionDetectionCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitPerformCollisionDetectionCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3GetStatusForwardDynamicsAnalyticsData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusForwardDynamicsAnalyticsData", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusForwardDynamicsAnalyticsData(b3SharedMemoryStatusHandle__* statusHandle, b3ForwardDynamicsAnalyticsArgs* analyticsData); - [DllImport(__DllName, EntryPoint = "b3InitResetSimulationCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitResetSimulationCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitResetSimulationCommand(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitResetSimulationCommand2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitResetSimulationCommand2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3InitResetSimulationSetFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitResetSimulationSetFlags", CallingConvention = CallingConvention.Cdecl)] public static extern int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); /// Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle); - [DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadUrdfCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3LoadUrdfCommandInit(b3PhysicsClientHandle__* physClient, byte* urdfFileName); - [DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandInit2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadUrdfCommandInit2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3LoadUrdfCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, byte* urdfFileName); - [DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetStartPosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadUrdfCommandSetStartPosition", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle__* commandHandle, double startPosX, double startPosY, double startPosZ); - [DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetStartOrientation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadUrdfCommandSetStartOrientation", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle__* commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - [DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetUseMultiBody", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadUrdfCommandSetUseMultiBody", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle__* commandHandle, int useMultiBody); - [DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetUseFixedBase", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadUrdfCommandSetUseFixedBase", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle__* commandHandle, int useFixedBase); - [DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadUrdfCommandSetFlags", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - [DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetGlobalScaling", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadUrdfCommandSetGlobalScaling", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle__* commandHandle, double globalScaling); - [DllImport(__DllName, EntryPoint = "b3SaveStateCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SaveStateCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3SaveStateCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3InitRemoveStateCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRemoveStateCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRemoveStateCommand(b3PhysicsClientHandle__* physClient, int stateId); - [DllImport(__DllName, EntryPoint = "b3GetStatusGetStateId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusGetStateId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusGetStateId(b3SharedMemoryStatusHandle__* statusHandle); - [DllImport(__DllName, EntryPoint = "b3LoadStateCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadStateCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3LoadStateCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3LoadStateSetStateId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadStateSetStateId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadStateSetStateId(b3SharedMemoryCommandHandle__* commandHandle, int stateId); - [DllImport(__DllName, EntryPoint = "b3LoadStateSetFileName", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadStateSetFileName", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadStateSetFileName(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName); - [DllImport(__DllName, EntryPoint = "b3LoadBulletCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadBulletCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3LoadBulletCommandInit(b3PhysicsClientHandle__* physClient, byte* fileName); - [DllImport(__DllName, EntryPoint = "b3SaveBulletCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SaveBulletCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3SaveBulletCommandInit(b3PhysicsClientHandle__* physClient, byte* fileName); - [DllImport(__DllName, EntryPoint = "b3LoadMJCFCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadMJCFCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3LoadMJCFCommandInit(b3PhysicsClientHandle__* physClient, byte* fileName); - [DllImport(__DllName, EntryPoint = "b3LoadMJCFCommandInit2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadMJCFCommandInit2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3LoadMJCFCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName); - [DllImport(__DllName, EntryPoint = "b3LoadMJCFCommandSetFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadMJCFCommandSetFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - [DllImport(__DllName, EntryPoint = "b3LoadMJCFCommandSetUseMultiBody", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadMJCFCommandSetUseMultiBody", CallingConvention = CallingConvention.Cdecl)] public static extern void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle__* commandHandle, int useMultiBody); /// compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics - [DllImport(__DllName, EntryPoint = "b3CalculateInverseDynamicsCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseDynamicsCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, double* jointPositionsQ, double* jointVelocitiesQdot, double* jointAccelerations); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseDynamicsCommandInit2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseDynamicsCommandInit2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CalculateInverseDynamicsCommandInit2(b3PhysicsClientHandle__* physClient, int bodyUniqueId, double* jointPositionsQ, int dofCountQ, double* jointVelocitiesQdot, double* jointAccelerations, int dofCountQdot); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseDynamicsSetFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseDynamicsSetFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseDynamicsSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - [DllImport(__DllName, EntryPoint = "b3GetStatusInverseDynamicsJointForces", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusInverseDynamicsJointForces", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle__* statusHandle, int* bodyUniqueId, int* dofCount, double* jointForces); - [DllImport(__DllName, EntryPoint = "b3CalculateJacobianCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateJacobianCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CalculateJacobianCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex, double* localPosition, double* jointPositionsQ, double* jointVelocitiesQdot, double* jointAccelerations); - [DllImport(__DllName, EntryPoint = "b3GetStatusJacobian", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusJacobian", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusJacobian(b3SharedMemoryStatusHandle__* statusHandle, int* dofCount, double* linearJacobian, double* angularJacobian); - [DllImport(__DllName, EntryPoint = "b3CalculateMassMatrixCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateMassMatrixCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CalculateMassMatrixCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, double* jointPositionsQ, int dofCountQ); - [DllImport(__DllName, EntryPoint = "b3CalculateMassMatrixSetFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateMassMatrixSetFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateMassMatrixSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); /// the mass matrix is stored in column-major layout of size dofCount*dofCount - [DllImport(__DllName, EntryPoint = "b3GetStatusMassMatrix", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusMassMatrix", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusMassMatrix(b3PhysicsClientHandle__* physClient, b3SharedMemoryStatusHandle__* statusHandle, int* dofCount, double* massMatrix); /// compute the joint positions to move the end effector to a desired target using inverse kinematics - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsAddTargetPurePosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsAddTargetPurePosition", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle__* commandHandle, int endEffectorLinkIndex, double* targetPosition); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsAddTargetsPurePosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsAddTargetsPurePosition", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsAddTargetsPurePosition(b3SharedMemoryCommandHandle__* commandHandle, int numEndEffectorLinkIndices, int* endEffectorIndices, double* targetPositions); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsAddTargetPositionWithOrientation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsAddTargetPositionWithOrientation", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle__* commandHandle, int endEffectorLinkIndex, double* targetPosition, double* targetOrientation); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsPosWithNullSpaceVel", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsPosWithNullSpaceVel", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle__* commandHandle, int numDof, int endEffectorLinkIndex, double* targetPosition, double* lowerLimit, double* upperLimit, double* jointRange, double* restPose); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsPosOrnWithNullSpaceVel", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsPosOrnWithNullSpaceVel", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle__* commandHandle, int numDof, int endEffectorLinkIndex, double* targetPosition, double* targetOrientation, double* lowerLimit, double* upperLimit, double* jointRange, double* restPose); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSetJointDamping", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsSetJointDamping", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle__* commandHandle, int numDof, double* jointDampingCoeff); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSelectSolver", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsSelectSolver", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsSelectSolver(b3SharedMemoryCommandHandle__* commandHandle, int solver); - [DllImport(__DllName, EntryPoint = "b3GetStatusInverseKinematicsJointPositions", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusInverseKinematicsJointPositions", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle__* statusHandle, int* bodyUniqueId, int* dofCount, double* jointPositions); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSetCurrentPositions", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsSetCurrentPositions", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsSetCurrentPositions(b3SharedMemoryCommandHandle__* commandHandle, int numDof, double* currentJointPositions); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSetMaxNumIterations", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsSetMaxNumIterations", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsSetMaxNumIterations(b3SharedMemoryCommandHandle__* commandHandle, int maxNumIterations); - [DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSetResidualThreshold", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateInverseKinematicsSetResidualThreshold", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateInverseKinematicsSetResidualThreshold(b3SharedMemoryCommandHandle__* commandHandle, double residualThreshold); - [DllImport(__DllName, EntryPoint = "b3CollisionFilterCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CollisionFilterCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CollisionFilterCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3SetCollisionFilterPair", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetCollisionFilterPair", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetCollisionFilterPair(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdA, int bodyUniqueIdB, int linkIndexA, int linkIndexB, int enableCollision); - [DllImport(__DllName, EntryPoint = "b3SetCollisionFilterGroupMask", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetCollisionFilterGroupMask", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetCollisionFilterGroupMask(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdA, int linkIndexA, int collisionFilterGroup, int collisionFilterMask); - [DllImport(__DllName, EntryPoint = "b3LoadSdfCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSdfCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3LoadSdfCommandInit(b3PhysicsClientHandle__* physClient, byte* sdfFileName); - [DllImport(__DllName, EntryPoint = "b3LoadSdfCommandInit2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSdfCommandInit2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3LoadSdfCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, byte* sdfFileName); - [DllImport(__DllName, EntryPoint = "b3LoadSdfCommandSetUseMultiBody", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSdfCommandSetUseMultiBody", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle__* commandHandle, int useMultiBody); - [DllImport(__DllName, EntryPoint = "b3LoadSdfCommandSetUseGlobalScaling", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSdfCommandSetUseGlobalScaling", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSdfCommandSetUseGlobalScaling(b3SharedMemoryCommandHandle__* commandHandle, double globalScaling); - [DllImport(__DllName, EntryPoint = "b3SaveWorldCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SaveWorldCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3SaveWorldCommandInit(b3PhysicsClientHandle__* physClient, byte* sdfFileName); /// The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead - [DllImport(__DllName, EntryPoint = "b3JointControlCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3JointControlCommandInit(b3PhysicsClientHandle__* physClient, int controlMode); /// Set joint motor control variables such as desired position/angle, desired velocity,applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE) - [DllImport(__DllName, EntryPoint = "b3JointControlCommandInit2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlCommandInit2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3JointControlCommandInit2(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int controlMode); - [DllImport(__DllName, EntryPoint = "b3JointControlCommandInit2Internal", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlCommandInit2Internal", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3JointControlCommandInit2Internal(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int controlMode); /// Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD - [DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredPosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetDesiredPosition", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle__* commandHandle, int qIndex, double value); - [DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredPositionMultiDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetDesiredPositionMultiDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetDesiredPositionMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int qIndex, double* position, int dofCount); - [DllImport(__DllName, EntryPoint = "b3JointControlSetKp", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetKp", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetKp(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - [DllImport(__DllName, EntryPoint = "b3JointControlSetKpMultiDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetKpMultiDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetKpMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* kps, int dofCount); - [DllImport(__DllName, EntryPoint = "b3JointControlSetKd", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetKd", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetKd(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - [DllImport(__DllName, EntryPoint = "b3JointControlSetKdMultiDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetKdMultiDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetKdMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* kds, int dofCount); - [DllImport(__DllName, EntryPoint = "b3JointControlSetMaximumVelocity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetMaximumVelocity", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double maximumVelocity); /// Only use when controlMode is CONTROL_MODE_VELOCITY - [DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredVelocity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetDesiredVelocity", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - [DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredVelocityMultiDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetDesiredVelocityMultiDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetDesiredVelocityMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* velocity, int dofCount); - [DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredVelocityMultiDof2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetDesiredVelocityMultiDof2", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetDesiredVelocityMultiDof2(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* velocity, int dofCount); - [DllImport(__DllName, EntryPoint = "b3JointControlSetMaximumForce", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetMaximumForce", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - [DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredForceTorqueMultiDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetDesiredForceTorqueMultiDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* forces, int dofCount); - [DllImport(__DllName, EntryPoint = "b3JointControlSetDamping", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetDamping", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetDamping(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - [DllImport(__DllName, EntryPoint = "b3JointControlSetDampingMultiDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetDampingMultiDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetDampingMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* damping, int dofCount); /// Only use if when controlMode is CONTROL_MODE_TORQUE, - [DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredForceTorque", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3JointControlSetDesiredForceTorque", CallingConvention = CallingConvention.Cdecl)] public static extern int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); /// the creation of collision shapes and rigid bodies etc is likely going to change,but good to have a b3CreateBoxShapeCommandInit for now - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddSphere", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddSphere", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle__* commandHandle, double radius); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddBox", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddBox", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle__* commandHandle, double* halfExtents); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddCapsule", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddCapsule", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle__* commandHandle, double radius, double height); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddCylinder", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddCylinder", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle__* commandHandle, double radius, double height); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddHeightfield", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddHeightfield", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName, double* meshScale, double textureScaling); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddHeightfield2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddHeightfield2", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* meshScale, double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns, int replaceHeightfieldIndex); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddPlane", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddPlane", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle__* commandHandle, double* planeNormal, double planeConstant); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddMesh", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddMesh", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName, double* meshScale); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddConvexMesh", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddConvexMesh", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddConvexMesh(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* meshScale, double* vertices, int numVertices); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddConcaveMesh", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeAddConcaveMesh", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateCollisionShapeAddConcaveMesh(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* meshScale, double* vertices, int numVertices, int* indices, int numIndices); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionSetFlag", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionSetFlag", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, int flags); - [DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeSetChildTransform", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateCollisionShapeSetChildTransform", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, double* childPosition, double* childOrientation); - [DllImport(__DllName, EntryPoint = "b3GetStatusCollisionShapeUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusCollisionShapeUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - [DllImport(__DllName, EntryPoint = "b3InitRemoveCollisionShapeCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitRemoveCollisionShapeCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle__* physClient, int collisionShapeId); - [DllImport(__DllName, EntryPoint = "b3GetMeshDataCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetMeshDataCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3GetMeshDataCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex); - [DllImport(__DllName, EntryPoint = "b3GetTetraMeshDataCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetTetraMeshDataCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3GetTetraMeshDataCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3GetMeshDataSimulationMesh", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetMeshDataSimulationMesh", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetMeshDataSimulationMesh(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3MeshDataSimulationMeshVelocity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3MeshDataSimulationMeshVelocity", CallingConvention = CallingConvention.Cdecl)] public static extern void b3MeshDataSimulationMeshVelocity(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3GetMeshDataSetCollisionShapeIndex", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetMeshDataSetCollisionShapeIndex", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex); - [DllImport(__DllName, EntryPoint = "b3GetMeshDataSetFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetMeshDataSetFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetMeshDataSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - [DllImport(__DllName, EntryPoint = "b3GetTetraMeshDataSetFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetTetraMeshDataSetFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetTetraMeshDataSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - [DllImport(__DllName, EntryPoint = "b3GetMeshData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetMeshData", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetMeshData(b3PhysicsClientHandle__* physClient, b3MeshData* meshData); - [DllImport(__DllName, EntryPoint = "b3GetTetraMeshData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetTetraMeshData", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetTetraMeshData(b3PhysicsClientHandle__* physClient, b3TetraMeshData* meshData); - [DllImport(__DllName, EntryPoint = "b3ResetMeshDataCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ResetMeshDataCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3ResetMeshDataCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int num_vertices, double* vertices); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreateVisualShapeCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddSphere", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeAddSphere", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle__* commandHandle, double radius); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddBox", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeAddBox", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle__* commandHandle, double* halfExtents); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddCapsule", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeAddCapsule", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateVisualShapeAddCapsule(b3SharedMemoryCommandHandle__* commandHandle, double radius, double height); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddCylinder", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeAddCylinder", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle__* commandHandle, double radius, double height); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddPlane", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeAddPlane", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle__* commandHandle, double* planeNormal, double planeConstant); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddMesh", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeAddMesh", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName, double* meshScale); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddMesh2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeAddMesh2", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateVisualShapeAddMesh2(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* meshScale, double* vertices, int numVertices, int* indices, int numIndices, double* normals, int numNormals, double* uvs, int numUVs); - [DllImport(__DllName, EntryPoint = "b3CreateVisualSetFlag", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualSetFlag", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, int flags); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeSetChildTransform", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeSetChildTransform", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, double* childPosition, double* childOrientation); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeSetSpecularColor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeSetSpecularColor", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, double* specularColor); - [DllImport(__DllName, EntryPoint = "b3CreateVisualShapeSetRGBAColor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateVisualShapeSetRGBAColor", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, double* rgbaColor); - [DllImport(__DllName, EntryPoint = "b3GetStatusVisualShapeUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusVisualShapeUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - [DllImport(__DllName, EntryPoint = "b3CreateMultiBodyCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateMultiBodyCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreateMultiBodyCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3CreateMultiBodyBase", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateMultiBodyBase", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle__* commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double* basePosition, double* baseOrientation, double* baseInertialFramePosition, double* baseInertialFrameOrientation); - [DllImport(__DllName, EntryPoint = "b3CreateMultiBodyLink", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateMultiBodyLink", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle__* commandHandle, double linkMass, double linkCollisionShapeIndex, double linkVisualShapeIndex, double* linkPosition, double* linkOrientation, double* linkInertialFramePosition, double* linkInertialFrameOrientation, int linkParentIndex, int linkJointType, double* linkJointAxis); - [DllImport(__DllName, EntryPoint = "b3CreateMultiBodySetBatchPositions", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateMultiBodySetBatchPositions", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateMultiBodySetBatchPositions(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* batchPositions, int numBatchObjects); - [DllImport(__DllName, EntryPoint = "b3CreateMultiBodyUseMaximalCoordinates", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateMultiBodyUseMaximalCoordinates", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3CreateMultiBodySetFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateMultiBodySetFlags", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CreateMultiBodySetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); /// create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)after that, you can optionally adjust the initial position, orientation and size - [DllImport(__DllName, EntryPoint = "b3CreateBoxShapeCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateBoxShapeCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreateBoxShapeCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetStartPosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateBoxCommandSetStartPosition", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle__* commandHandle, double startPosX, double startPosY, double startPosZ); - [DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetStartOrientation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateBoxCommandSetStartOrientation", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle__* commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - [DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetHalfExtents", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateBoxCommandSetHalfExtents", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle__* commandHandle, double halfExtentsX, double halfExtentsY, double halfExtentsZ); - [DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetMass", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateBoxCommandSetMass", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle__* commandHandle, double mass); - [DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetCollisionShapeType", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateBoxCommandSetCollisionShapeType", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle__* commandHandle, int collisionShapeType); - [DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetColorRGBA", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateBoxCommandSetColorRGBA", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle__* commandHandle, double red, double green, double blue, double alpha); /// b3CreatePoseCommandInit will initialize (teleport) the pose of a body/robot. You can individually set the base position,base orientation and joint angles. This will set all velocities of base and joints to zero.This is not a robot control command using actuators/joint motors, but manual repositioning the robot. - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreatePoseCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandInit2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandInit2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreatePoseCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBasePosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetBasePosition", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle__* commandHandle, double startPosX, double startPosY, double startPosZ); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBaseOrientation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetBaseOrientation", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle__* commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBaseLinearVelocity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetBaseLinearVelocity", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle__* commandHandle, double* linVel); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBaseAngularVelocity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetBaseAngularVelocity", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle__* commandHandle, double* angVel); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBaseScaling", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetBaseScaling", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetBaseScaling(b3SharedMemoryCommandHandle__* commandHandle, double* scaling); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointPositions", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetJointPositions", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle__* commandHandle, int numJointPositions, double* jointPositions); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointPosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetJointPosition", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, double jointPosition); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointPositionMultiDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetJointPositionMultiDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetJointPositionMultiDof(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, double* jointPosition, int posSize); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetQ", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetQ", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetQ(b3SharedMemoryCommandHandle__* commandHandle, int numJointPositions, double* q, int* hasQ); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetQdots", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetQdots", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetQdots(b3SharedMemoryCommandHandle__* commandHandle, int numJointVelocities, double* qDots, int* hasQdots); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointVelocities", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetJointVelocities", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetJointVelocities(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int numJointVelocities, double* jointVelocities); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointVelocity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetJointVelocity", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetJointVelocity(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, double jointVelocity); - [DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointVelocityMultiDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreatePoseCommandSetJointVelocityMultiDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreatePoseCommandSetJointVelocityMultiDof(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, double* jointVelocity, int velSize); /// We are currently not reading the sensor information from the URDF file, and programmatically assign sensors.This is rather inconsistent, to mix programmatical creation with loading from file. - [DllImport(__DllName, EntryPoint = "b3CreateSensorCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateSensorCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreateSensorCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3CreateSensorEnable6DofJointForceTorqueSensor", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateSensorEnable6DofJointForceTorqueSensor", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, int enable); /// b3CreateSensorEnableIMUForLink is not implemented yet.For now, if the IMU is located in the root link, use the root world transform to mimic an IMU. - [DllImport(__DllName, EntryPoint = "b3CreateSensorEnableIMUForLink", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateSensorEnableIMUForLink", CallingConvention = CallingConvention.Cdecl)] public static extern int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle__* commandHandle, int linkIndex, int enable); - [DllImport(__DllName, EntryPoint = "b3RequestActualStateCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestActualStateCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3RequestActualStateCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3RequestActualStateCommandInit2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestActualStateCommandInit2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3RequestActualStateCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId); - [DllImport(__DllName, EntryPoint = "b3RequestActualStateCommandComputeLinkVelocity", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestActualStateCommandComputeLinkVelocity", CallingConvention = CallingConvention.Cdecl)] public static extern int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle__* commandHandle, int computeLinkVelocity); - [DllImport(__DllName, EntryPoint = "b3RequestActualStateCommandComputeForwardKinematics", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestActualStateCommandComputeForwardKinematics", CallingConvention = CallingConvention.Cdecl)] public static extern int b3RequestActualStateCommandComputeForwardKinematics(b3SharedMemoryCommandHandle__* commandHandle, int computeForwardKinematics); - [DllImport(__DllName, EntryPoint = "b3GetJointState", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetJointState", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetJointState(b3PhysicsClientHandle__* physClient, b3SharedMemoryStatusHandle__* statusHandle, int jointIndex, b3JointSensorState* state); - [DllImport(__DllName, EntryPoint = "b3GetJointStateMultiDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetJointStateMultiDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetJointStateMultiDof(b3PhysicsClientHandle__* physClient, b3SharedMemoryStatusHandle__* statusHandle, int jointIndex, b3JointSensorState2* state); - [DllImport(__DllName, EntryPoint = "b3GetLinkState", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetLinkState", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetLinkState(b3PhysicsClientHandle__* physClient, b3SharedMemoryStatusHandle__* statusHandle, int linkIndex, b3LinkState* state); - [DllImport(__DllName, EntryPoint = "b3PickBody", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PickBody", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3PickBody(b3PhysicsClientHandle__* physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ); - [DllImport(__DllName, EntryPoint = "b3MovePickedBody", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3MovePickedBody", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3MovePickedBody(b3PhysicsClientHandle__* physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ); - [DllImport(__DllName, EntryPoint = "b3RemovePickingConstraint", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RemovePickingConstraint", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3RemovePickingConstraint(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3CreateRaycastCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateRaycastCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreateRaycastCommandInit(b3PhysicsClientHandle__* physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ); - [DllImport(__DllName, EntryPoint = "b3CreateRaycastBatchCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CreateRaycastBatchCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3CreateRaycastBatchCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3RaycastBatchSetNumThreads", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RaycastBatchSetNumThreads", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RaycastBatchSetNumThreads(b3SharedMemoryCommandHandle__* commandHandle, int numThreads); - [DllImport(__DllName, EntryPoint = "b3RaycastBatchAddRay", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RaycastBatchAddRay", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle__* commandHandle, double* rayFromWorld, double* rayToWorld); - [DllImport(__DllName, EntryPoint = "b3RaycastBatchAddRays", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RaycastBatchAddRays", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RaycastBatchAddRays(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* rayFromWorld, double* rayToWorld, int numRays); - [DllImport(__DllName, EntryPoint = "b3RaycastBatchSetParentObject", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RaycastBatchSetParentObject", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RaycastBatchSetParentObject(b3SharedMemoryCommandHandle__* commandHandle, int parentObjectUniqueId, int parentLinkIndex); - [DllImport(__DllName, EntryPoint = "b3RaycastBatchSetReportHitNumber", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RaycastBatchSetReportHitNumber", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RaycastBatchSetReportHitNumber(b3SharedMemoryCommandHandle__* commandHandle, int reportHitNumber); - [DllImport(__DllName, EntryPoint = "b3RaycastBatchSetCollisionFilterMask", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RaycastBatchSetCollisionFilterMask", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RaycastBatchSetCollisionFilterMask(b3SharedMemoryCommandHandle__* commandHandle, int collisionFilterMask); - [DllImport(__DllName, EntryPoint = "b3RaycastBatchSetFractionEpsilon", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RaycastBatchSetFractionEpsilon", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RaycastBatchSetFractionEpsilon(b3SharedMemoryCommandHandle__* commandHandle, double fractionEpsilon); - [DllImport(__DllName, EntryPoint = "b3GetRaycastInformation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetRaycastInformation", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetRaycastInformation(b3PhysicsClientHandle__* physClient, b3RaycastInformation* raycastInfo); /// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates. - [DllImport(__DllName, EntryPoint = "b3ApplyExternalForceCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ApplyExternalForceCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3ApplyExternalForceCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3ApplyExternalForce", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ApplyExternalForce", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ApplyExternalForce(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkId, double* force, double* position, int flag); - [DllImport(__DllName, EntryPoint = "b3ApplyExternalTorque", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ApplyExternalTorque", CallingConvention = CallingConvention.Cdecl)] public static extern void b3ApplyExternalTorque(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkId, double* torque, int flag); /// experiments of robots interacting with non-rigid objects (such as btSoftBody) - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodyCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodyCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3LoadSoftBodyCommandInit(b3PhysicsClientHandle__* physClient, byte* fileName); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetScale", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodySetScale", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle__* commandHandle, double scale); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetMass", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodySetMass", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle__* commandHandle, double mass); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetCollisionMargin", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodySetCollisionMargin", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle__* commandHandle, double collisionMargin); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetStartPosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodySetStartPosition", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle__* commandHandle, double startPosX, double startPosY, double startPosZ); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetStartOrientation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodySetStartOrientation", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle__* commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodyUpdateSimMesh", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodyUpdateSimMesh", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle__* commandHandle, byte* filename); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodyAddCorotatedForce", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodyAddCorotatedForce", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle__* commandHandle, double corotatedMu, double corotatedLambda); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodyAddNeoHookeanForce", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodyAddNeoHookeanForce", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle__* commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodyAddMassSpringForce", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodyAddMassSpringForce", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle__* commandHandle, double springElasticStiffness, double springDampingStiffness); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodyAddGravityForce", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodyAddGravityForce", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle__* commandHandle, double gravityX, double gravityY, double gravityZ); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetCollisionHardness", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodySetCollisionHardness", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle__* commandHandle, double collisionHardness); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetSelfCollision", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodySetSelfCollision", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle__* commandHandle, int useSelfCollision); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetRepulsionStiffness", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodySetRepulsionStiffness", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodySetRepulsionStiffness(b3SharedMemoryCommandHandle__* commandHandle, double stiffness); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodyUseFaceContact", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodyUseFaceContact", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle__* commandHandle, int useFaceContact); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetFrictionCoefficient", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodySetFrictionCoefficient", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle__* commandHandle, double frictionCoefficient); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodyUseBendingSprings", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodyUseBendingSprings", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle__* commandHandle, int useBendingSprings, double bendingStiffness); - [DllImport(__DllName, EntryPoint = "b3LoadSoftBodyUseAllDirectionDampingSprings", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3LoadSoftBodyUseAllDirectionDampingSprings", CallingConvention = CallingConvention.Cdecl)] public static extern int b3LoadSoftBodyUseAllDirectionDampingSprings(b3SharedMemoryCommandHandle__* commandHandle, int useAllDirectionDamping); - [DllImport(__DllName, EntryPoint = "b3InitCreateSoftBodyAnchorConstraintCommand", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InitCreateSoftBodyAnchorConstraintCommand", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle__* physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, double* bodyFramePosition); - [DllImport(__DllName, EntryPoint = "b3RequestVREventsCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestVREventsCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3RequestVREventsCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3VREventsSetDeviceTypeFilter", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3VREventsSetDeviceTypeFilter", CallingConvention = CallingConvention.Cdecl)] public static extern void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle__* commandHandle, int deviceTypeFilter); - [DllImport(__DllName, EntryPoint = "b3GetVREventsData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetVREventsData", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetVREventsData(b3PhysicsClientHandle__* physClient, b3VREventsData* vrEventsData); - [DllImport(__DllName, EntryPoint = "b3SetVRCameraStateCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetVRCameraStateCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3SetVRCameraStateCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3SetVRCameraRootPosition", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetVRCameraRootPosition", CallingConvention = CallingConvention.Cdecl)] public static extern int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle__* commandHandle, double* rootPos); - [DllImport(__DllName, EntryPoint = "b3SetVRCameraRootOrientation", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetVRCameraRootOrientation", CallingConvention = CallingConvention.Cdecl)] public static extern int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle__* commandHandle, double* rootOrn); - [DllImport(__DllName, EntryPoint = "b3SetVRCameraTrackingObject", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetVRCameraTrackingObject", CallingConvention = CallingConvention.Cdecl)] public static extern int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId); - [DllImport(__DllName, EntryPoint = "b3SetVRCameraTrackingObjectFlag", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetVRCameraTrackingObjectFlag", CallingConvention = CallingConvention.Cdecl)] public static extern int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle__* commandHandle, int flag); - [DllImport(__DllName, EntryPoint = "b3RequestKeyboardEventsCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestKeyboardEventsCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3RequestKeyboardEventsCommandInit2", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestKeyboardEventsCommandInit2", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3RequestKeyboardEventsCommandInit2(b3SharedMemoryCommandHandle__* commandHandle); - [DllImport(__DllName, EntryPoint = "b3GetKeyboardEventsData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetKeyboardEventsData", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetKeyboardEventsData(b3PhysicsClientHandle__* physClient, b3KeyboardEventsData* keyboardEventsData); - [DllImport(__DllName, EntryPoint = "b3RequestMouseEventsCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RequestMouseEventsCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3RequestMouseEventsCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3GetMouseEventsData", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetMouseEventsData", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetMouseEventsData(b3PhysicsClientHandle__* physClient, b3MouseEventsData* mouseEventsData); - [DllImport(__DllName, EntryPoint = "b3StateLoggingCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3StateLoggingCommandInit(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3StateLoggingStart", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingStart", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingStart(b3SharedMemoryCommandHandle__* commandHandle, int loggingType, byte* fileName); - [DllImport(__DllName, EntryPoint = "b3StateLoggingAddLoggingObjectUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingAddLoggingObjectUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId); - [DllImport(__DllName, EntryPoint = "b3StateLoggingSetMaxLogDof", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingSetMaxLogDof", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle__* commandHandle, int maxLogDof); - [DllImport(__DllName, EntryPoint = "b3StateLoggingSetLinkIndexA", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingSetLinkIndexA", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingSetLinkIndexA(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexA); - [DllImport(__DllName, EntryPoint = "b3StateLoggingSetLinkIndexB", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingSetLinkIndexB", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexB); - [DllImport(__DllName, EntryPoint = "b3StateLoggingSetBodyAUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingSetBodyAUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle__* commandHandle, int bodyAUniqueId); - [DllImport(__DllName, EntryPoint = "b3StateLoggingSetBodyBUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingSetBodyBUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle__* commandHandle, int bodyBUniqueId); - [DllImport(__DllName, EntryPoint = "b3StateLoggingSetDeviceTypeFilter", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingSetDeviceTypeFilter", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle__* commandHandle, int deviceTypeFilter); - [DllImport(__DllName, EntryPoint = "b3StateLoggingSetLogFlags", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingSetLogFlags", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingSetLogFlags(b3SharedMemoryCommandHandle__* commandHandle, int logFlags); - [DllImport(__DllName, EntryPoint = "b3GetStatusLoggingUniqueId", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetStatusLoggingUniqueId", CallingConvention = CallingConvention.Cdecl)] public static extern int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - [DllImport(__DllName, EntryPoint = "b3StateLoggingStop", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3StateLoggingStop", CallingConvention = CallingConvention.Cdecl)] public static extern int b3StateLoggingStop(b3SharedMemoryCommandHandle__* commandHandle, int loggingUid); - [DllImport(__DllName, EntryPoint = "b3ProfileTimingCommandInit", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3ProfileTimingCommandInit", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3ProfileTimingCommandInit(b3PhysicsClientHandle__* physClient, byte* name); - [DllImport(__DllName, EntryPoint = "b3SetProfileTimingDuractionInMicroSeconds", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetProfileTimingDuractionInMicroSeconds", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle__* commandHandle, int duration); - [DllImport(__DllName, EntryPoint = "b3SetProfileTimingType", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetProfileTimingType", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetProfileTimingType(b3SharedMemoryCommandHandle__* commandHandle, int type_); - [DllImport(__DllName, EntryPoint = "b3PushProfileTiming", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PushProfileTiming", CallingConvention = CallingConvention.Cdecl)] public static extern void b3PushProfileTiming(b3PhysicsClientHandle__* physClient, byte* timingName); - [DllImport(__DllName, EntryPoint = "b3PopProfileTiming", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3PopProfileTiming", CallingConvention = CallingConvention.Cdecl)] public static extern void b3PopProfileTiming(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3SetTimeOut", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetTimeOut", CallingConvention = CallingConvention.Cdecl)] public static extern void b3SetTimeOut(b3PhysicsClientHandle__* physClient, double timeOutInSeconds); - [DllImport(__DllName, EntryPoint = "b3GetTimeOut", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetTimeOut", CallingConvention = CallingConvention.Cdecl)] public static extern double b3GetTimeOut(b3PhysicsClientHandle__* physClient); - [DllImport(__DllName, EntryPoint = "b3SetAdditionalSearchPath", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3SetAdditionalSearchPath", CallingConvention = CallingConvention.Cdecl)] public static extern b3SharedMemoryCommandHandle__* b3SetAdditionalSearchPath(b3PhysicsClientHandle__* physClient, byte* path); - [DllImport(__DllName, EntryPoint = "b3MultiplyTransforms", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3MultiplyTransforms", CallingConvention = CallingConvention.Cdecl)] public static extern void b3MultiplyTransforms(double* posA, double* ornA, double* posB, double* ornB, double* outPos, double* outOrn); - [DllImport(__DllName, EntryPoint = "b3InvertTransform", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3InvertTransform", CallingConvention = CallingConvention.Cdecl)] public static extern void b3InvertTransform(double* pos, double* orn, double* outPos, double* outOrn); - [DllImport(__DllName, EntryPoint = "b3QuaternionSlerp", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3QuaternionSlerp", CallingConvention = CallingConvention.Cdecl)] public static extern void b3QuaternionSlerp(double* startQuat, double* endQuat, double interpolationFraction, double* outOrn); - [DllImport(__DllName, EntryPoint = "b3GetQuaternionFromAxisAngle", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetQuaternionFromAxisAngle", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetQuaternionFromAxisAngle(double* axis, double angle, double* outQuat); - [DllImport(__DllName, EntryPoint = "b3GetAxisAngleFromQuaternion", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetAxisAngleFromQuaternion", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetAxisAngleFromQuaternion(double* quat, double* axis, double* angle); - [DllImport(__DllName, EntryPoint = "b3GetQuaternionDifference", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetQuaternionDifference", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetQuaternionDifference(double* startQuat, double* endQuat, double* outOrn); - [DllImport(__DllName, EntryPoint = "b3GetAxisDifferenceQuaternion", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3GetAxisDifferenceQuaternion", CallingConvention = CallingConvention.Cdecl)] public static extern void b3GetAxisDifferenceQuaternion(double* startQuat, double* endQuat, double* axisOut); - [DllImport(__DllName, EntryPoint = "b3CalculateVelocityQuaternion", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3CalculateVelocityQuaternion", CallingConvention = CallingConvention.Cdecl)] public static extern void b3CalculateVelocityQuaternion(double* startQuat, double* endQuat, double deltaTime, double* angVelOut); - [DllImport(__DllName, EntryPoint = "b3RotateVector", CallingConvention = CallingConvention.Cdecl)] + [DllImport(__DllName, EntryPoint = "csbindgen_bullet3_b3RotateVector", CallingConvention = CallingConvention.Cdecl)] public static extern void b3RotateVector(double* quat, double* vec, double* vecOut);