public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2,
                 Vector3 frameInAloc, Quaternion frameInArot,
                 Vector3 frameInBloc, Quaternion frameInBrot,
                 bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2,
                             frameInAloc, frameInArot, frameInBloc, frameInBrot,
                             disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
 }
 public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
     Vector3 pivotInA, Vector3 pivotInB,
     Vector3 axisInA, Vector3 axisInB,
     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
         pivotInA, pivotInB, axisInA, axisInB,
         useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
 }
    public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2,
                    Vector3 frame1Loc, Quaternion frame1Rot,
                    Vector3 frame2Loc, Quaternion frame2Rot,
                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
        :base(world, obj1, obj2)
    {
        m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2,
                                frame1Loc, frame1Rot, frame2Loc, frame2Rot,
                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
        m_enabled = true;

        PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                            obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
        PhysicsScene.DetailLog("{0},BSConstraintSpring,create,  f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
                    m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
    }
 // Create a btGeneric6DofConstraint
 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
     Vector3 frame1, Quaternion frame1rot,
     Vector3 frame2, Quaternion frame2rot,
     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
         frame1, frame1rot,
         frame2, frame2rot,
         useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
     world.physicsScene.DetailLog(
         "{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
         BSScene.DetailLogZero, world.worldID,
         obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
 }
 // 6 Dof constraint based on a midpoint between the two constrained bodies
 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
     Vector3 joinPoint,
     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
     {
         world.physicsScene.DetailLog(
             "{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
             BSScene.DetailLogZero, world.worldID,
             obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
         world.physicsScene.Logger.ErrorFormat(
             "{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
             LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
         m_enabled = false;
     }
     else
     {
         m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
             joinPoint,
             useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         PhysicsScene.DetailLog(
             "{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
             BSScene.DetailLogZero, world.worldID, m_constraint.AddrString,
             obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
         if (!m_constraint.HasPhysicalConstraint)
         {
             world.physicsScene.Logger.ErrorFormat(
                 "{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
                 LogHeader, obj1.ID, obj2.ID);
             m_enabled = false;
         }
         else
         {
             m_enabled = true;
         }
     }
 }
 public virtual void ResetConstraintSolver(BulletWorld sim)
 {
 }
 public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
                                 out int updatedEntityCount, out int collidersCount);
 public virtual void DumpActivationInfo(BulletWorld sim)
 {
 }
 public virtual void DumpPhysicsStatistics(BulletWorld sim)
 {
 }
 public abstract BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
 public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
 {
 }
 public abstract bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj);
 // =====================================================================================
 // btDynamicsWorld entries
 // public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot);
 public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
 public abstract void Shutdown(BulletWorld sim);
 public abstract bool UpdateParameter(BulletWorld world, UInt32 localID, String parm, float value);
 public abstract BulletShape CreateHullShape(BulletWorld world,
                                             int hullCount, float[] hulls);
 public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
 public abstract BulletShape CreateConvexHullShape(BulletWorld world,
                                                   int indicesCount, int[] indices,
                                                   int verticesCount, float[] vertices);
 public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
 public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
 public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
 public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
 public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
 public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms);
 public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain,
     bool disableCollisionsBetweenLinkedObjects);
 public abstract BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
     Vector3 frameInAloc, Quaternion frameInArot,
     Vector3 frameInBloc, Quaternion frameInBrot,
     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
 public abstract BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
     Vector3 frameInAloc, Quaternion frameInArot,
     Vector3 frameInBloc, Quaternion frameInBrot,
     bool disableCollisionsBetweenLinkedBodies);
 // =====================================================================================
 // Debugging
 public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
 {
 }
 public abstract BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
     Vector3 axisInA, Vector3 axisInB,
     float ratio, bool disableCollisionsBetweenLinkedBodies);
 public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
 {
 }
 public abstract BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
     Vector3 pivotInA, Vector3 pivotInB,
     bool disableCollisionsBetweenLinkedBodies);
 public virtual void DumpAllInfo(BulletWorld sim)
 {
 }
 public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
 public virtual void ResetBroadphasePool(BulletWorld sim)
 {
 }
 // =====================================================================================
 // btCollisionWorld entries
 public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
 public BSConstraintCollection(BulletWorld world)
 {
     m_world = world;
     m_constraints = new List<BSConstraint>();
 }
 public abstract void UpdateAabbs(BulletWorld world);