public void GetClosestPointsNonVirtual(ClosestPointInput input, Result output,
IDebugDraw debugDraw)
{
btGjkPairDetector_getClosestPointsNonVirtual(_native, input._native,
output._native, DebugDraw.GetUnmanaged(debugDraw));
}
private void DebugDrawUnmanaged(IntPtr debugDrawer)
{
_actionInterface.DebugDraw(DebugDraw.GetManaged(debugDrawer));
}
/*
* public void CreateConstraintRows(MultiBodyConstraintArray constraintRows,
* MultiBodyJacobianData data, ContactSolverInfo infoGlobal)
* {
* btMultiBodyConstraint_createConstraintRows(Native, constraintRows.Native,
* data.Native, infoGlobal.Native);
* }
*/
public void DebugDraw(DebugDraw drawer)
{
btMultiBodyConstraint_debugDraw(Native, drawer._native);
}
public void GetClosestPoints(ClosestPointInput input, Result output, IDebugDraw debugDraw, bool swapResults)
{
btDiscreteCollisionDetectorInterface_getClosestPoints2(_native, input._native, output._native, DebugDraw.GetUnmanaged(debugDraw), swapResults);
}
public void AllSolved(ContactSolverInfo __unnamed0, IDebugDraw __unnamed1)
{
btConstraintSolver_allSolved(Native, __unnamed0.Native, DebugDraw.GetUnmanaged(__unnamed1));
}
public void GetClosestPointsNonVirtual(ClosestPointInput input, Result output,
DebugDraw debugDraw)
{
btGjkPairDetector_getClosestPointsNonVirtual(Native, input.Native,
output.Native, debugDraw != null ? debugDraw._native : IntPtr.Zero);
}
///btActionInterface interface
public void DebugDraw(DebugDraw debugDrawer)
{
}
public void AllSolved(ContactSolverInfo __unnamed0, DebugDraw __unnamed1)
{
btConstraintSolver_allSolved(Native, __unnamed0.Native, __unnamed1 != null ? __unnamed1.Native : IntPtr.Zero);
}
public bool CalcPenDepth(VoronoiSimplexSolver simplexSolver, ConvexShape convexA, ConvexShape convexB, Matrix transA, Matrix transB, out Vector3 v, out Vector3 pa, out Vector3 pb, IDebugDraw debugDraw)
{
return(btConvexPenetrationDepthSolver_calcPenDepth(_native, simplexSolver._native, convexA._native, convexB._native, ref transA, ref transB, out v, out pa, out pb, DebugDraw.GetUnmanaged(debugDraw)));
}