private unsafe void SerializeDynamicsWorldInfo(Serializer serializer)
{
int len = 88;
Chunk chunk = serializer.Allocate((uint)len, 1);
using (var stream = new UnmanagedMemoryStream((byte *)chunk.OldPtr.ToPointer(), len, len, FileAccess.Write))
{
using (var writer = new BinaryWriter(stream))
{
ContactSolverInfo solverInfo = SolverInfo;
writer.Write(solverInfo.Tau);
writer.Write(solverInfo.Damping);
writer.Write(solverInfo.Friction);
writer.Write(solverInfo.TimeStep);
writer.Write(solverInfo.Restitution);
writer.Write(solverInfo.MaxErrorReduction);
writer.Write(solverInfo.Sor);
writer.Write(solverInfo.Erp);
writer.Write(solverInfo.Erp2);
writer.Write(solverInfo.GlobalCfm);
writer.Write(solverInfo.SplitImpulsePenetrationThreshold);
writer.Write(solverInfo.SplitImpulseTurnErp);
writer.Write(solverInfo.LinearSlop);
writer.Write(solverInfo.WarmStartingFactor);
writer.Write(solverInfo.MaxGyroscopicForce);
writer.Write(solverInfo.SingleAxisRollingFrictionThreshold);
writer.Write(solverInfo.NumIterations);
writer.Write((int)solverInfo.SolverMode);
writer.Write(solverInfo.RestingContactRestitutionThreshold);
writer.Write(solverInfo.MinimumSolverBatchSize);
writer.Write(solverInfo.SplitImpulse);
writer.Write((int)0); // padding
}
}
serializer.FinalizeChunk(chunk, "btDynamicsWorldFloatData", DnaID.DynamicsWorld, chunk.OldPtr);
}
public void SolveInternalConstraints(ContactSolverInfo solverInfo)
{
btMultiBodyDynamicsWorld_solveInternalConstraints(Native, solverInfo.Native);
}
public void AllSolved(ContactSolverInfo __unnamed0, IDebugDraw __unnamed1)
{
btConstraintSolver_allSolved(_native, __unnamed0._native, DebugDraw.GetUnmanaged(__unnamed1));
}
public void SolveExternalForces(ContactSolverInfo solverInfo)
{
btMultiBodyDynamicsWorld_solveExternalForces(Native, solverInfo.Native);
}
public void SolveConstraints(ContactSolverInfo solverInfo)
{
btDiscreteDynamicsWorld_solveConstraints(Native, solverInfo.Native);
}
public void SetDynamicsWorldInfo(ref Vector3 gravity, ContactSolverInfo solverInfo)
{
if (_dynamicsWorld != null)
{
_dynamicsWorld.SetGravity(ref gravity);
}
}
public void AllSolved(ContactSolverInfo __unnamed0, IDebugDraw __unnamed1)
{
btConstraintSolver_allSolved(Native, __unnamed0.Native, DebugDraw.GetUnmanaged(__unnamed1));
}
public void AllSolved(ContactSolverInfo __unnamed0, DebugDraw __unnamed1)
{
btConstraintSolver_allSolved(Native, __unnamed0.Native, __unnamed1 != null ? __unnamed1.Native : IntPtr.Zero);
}