LNXSDK/lib/haxebullet/Sources/bullet/Bt.hx

// Bullet physics bindings for Haxe

package bullet;

enum abstract CollisionObjectActivationState(Int) from Int to Int {
	var ACTIVE_TAG = 1;
	var ISLAND_SLEEPING = 2;
	var WANTS_DEACTIVATION = 3;
	var DISABLE_DEACTIVATION = 4;
	var DISABLE_SIMULATION = 5;
}

#if hl
abstract BulletString(hl.Bytes) from hl.Bytes to hl.Bytes {
#else
abstract BulletString(Int) from Int to Int {
#end
	public inline function toHaxeString(): String {
		#if js
			// Not available in currently used version of ammo.js
			// TODO remove custom utf8 conversion code when updating ammo
			// return js.Syntax.code("Ammo.UTF8ToString({0})", this);

			return js_UTF8ToString(this);
		#elseif hl
			return @:privateAccess String.fromUTF8(this);
		#end
	}

	#if js
	function js_UTF8ToString(heapOffset: Int) {
		final heap: js.lib.Uint8Array = js.Syntax.code("Ammo.HEAPU8");
		var end = heapOffset;
		while (heap[end] != 0) {
			end++;
		}
		return haxe.io.Bytes.ofData(heap.buffer).getString(heapOffset, end - heapOffset, UTF8);
	}
	#end
}

#if hl

typedef Bt = haxe.macro.MacroType<[webidl.Module.build({ idlFile : "Sources/bullet/bullet.idl", chopPrefix : "bt", autoGC : false, nativeLib : "bullet" })]>;

#else

// These will be eventually auto-generated, similar to the above

@:native('Ammo.btTypedObject')
extern class TypedObject {
}

@:native('Ammo.btVector3')
extern class Vector3 {
	public function new(x:Float, y:Float, z:Float):Void;
	public function setValue(x:Float, y:Float, z:Float):Void;
	public function setX(x:Float):Void;
	public function setY(y:Float):Void;
	public function setZ(z:Float):Void;
	public function x():Float;
	public function y():Float;
	public function z():Float;
	public function length():Float;
	// public function normalize():Vector3; // Does not return itself in ammo
	public function normalize():Void;
}

@:native('Ammo.btQuadWord')
extern class QuadWord {
	public function setX(x:Float):Void;
	public function setY(y:Float):Void;
	public function setZ(z:Float):Void;
	public function setW(w:Float):Void;
	public function x():Float;
	public function y():Float;
	public function z():Float;
	public function w():Float;
}

@:native('Ammo.btQuaternion')
extern class Quaternion extends QuadWord {
	public function new(x:Float, y:Float, z:Float, w:Float):Void;
	public function setEuler(yaw:Float, pitch:Float, roll:Float):Void;
	public function slerp(q:Quaternion, t:Float):Quaternion;
	public function setValue(x:Float, y:Float, z:Float, w:Float):Void;
	//public function inverse():Quaternion;
}

@:native('Ammo.btMatrix3x3')
extern class Matrix3x3 {
	public function setEulerZYX(ex:Float, ey:Float, ez:Float):Void;
	public function getRotation(q:Quaternion):Void;
	public function getRow(y:Int):Vector3;
}

@:native('Ammo.btActionInterface')
extern class ActionInterface {
}

@:native('Ammo.btTransform')
extern class Transform {
	public function new():Void;
	public function setIdentity():Void;
	public function setOrigin(inVec:Vector3):Void;
	public function getOrigin():Vector3;
	public function setRotation(inQuat:Quaternion):Void;
	public function getRotation():Quaternion;
	//public function inverse():Transform; // Missing in ammo
}

@:native('Ammo.btIDebugDraw')
extern class IDebugDraw {
	public function new():Void;
	public dynamic function drawLine(from:Vector3, to:Vector3, color:Vector3): Void;
	public dynamic function drawContactPoint(pointOnB:Vector3, normalOnB:Vector3, distance:Float, lifeTime:Int, color:Vector3):Void;
	public dynamic function reportErrorWarning(warningString:BulletString):Void;
	public dynamic function draw3dText(location:Vector3, textString:BulletString):Void;
	public dynamic function setDebugMode(debugMode:Int): Void;
	public dynamic function getDebugMode():Int;
}

@:native('Ammo.DebugDrawer')
extern class DebugDrawer {
	public function new():Void;
	public dynamic function drawLine(from:Vector3, to:Vector3, color:Vector3): Void;
	public dynamic function drawContactPoint(pointOnB:Vector3, normalOnB:Vector3, distance:Float, lifeTime:Int, color:Vector3):Void;
	public dynamic function reportErrorWarning(warningString:BulletString):Void;
	public dynamic function draw3dText(location:Vector3, textString:BulletString):Void;
	public dynamic function setDebugMode(debugMode:Int): Void;
	public dynamic function getDebugMode():Int;
}

@:native('Ammo.btMotionState')
extern class MotionState {
	public function getWorldTransform(centerOfMassWorldTrans:Transform):Void;
	public function setWorldTransform(centerOfMassWorldTrans:Transform):Void;
}

@:native('Ammo.btDefaultMotionState')
extern class DefaultMotionState extends MotionState {
	public function new(worldTrans:Transform, centerOfMassOffset:Transform):Void;
}

@:native('Ammo.btRigidBodyConstructionInfo')
extern class RigidBodyConstructionInfo {
	public function new(mass:Float, motionState:MotionState, collisionShape:CollisionShape, localInertia:Vector3):Void;
	public var m_friction:Float;
	public var m_rollingFriction:Float;
}

@:native('Ammo.btCollisionObject')
extern class CollisionObject {
	public static inline var ACTIVE_TAG = CollisionObjectActivationState.ACTIVE_TAG;
	public static inline var ISLAND_SLEEPING = CollisionObjectActivationState.ISLAND_SLEEPING;
	public static inline var WANTS_DEACTIVATION = CollisionObjectActivationState.WANTS_DEACTIVATION;
	public static inline var DISABLE_DEACTIVATION = CollisionObjectActivationState.DISABLE_DEACTIVATION;
	public static inline var DISABLE_SIMULATION = CollisionObjectActivationState.DISABLE_SIMULATION;

	public function getWorldTransform():Transform;
	public function setWorldTransform(trans:Transform):Void;
	public function activate(forceActivation:Bool = false):Void;
	public function setActivationState(newState:CollisionObjectActivationState):Void;
	public function getUserIndex():Int;
	public function setUserIndex(index:Int):Void;
	public function getUserPointer():Dynamic;
	public function setUserPointer(userPointer:Dynamic):Void;
	public function isActive():Bool;
	public function isKinematicObject():Bool;
	public function isStaticObject():Bool;
	public function isStaticOrKinematicObject():Bool;
	public function setFriction(frict:Float):Void;
	public function setRollingFriction(frict:Float):Void;
	public function setRestitution(rest:Float):Void;
	public function setContactProcessingThreshold(contactProcessingThreshold:Float):Void;
	public function setCollisionShape(collisionShape:CollisionShape):Void;
	public function getCollisionShape():CollisionShape;
	public function setCollisionFlags(flags:Int):Void;
	public function getCollisionFlags():Int;
	public function setCcdSweptSphereRadius(radius:Float):Void;
	public function setCcdMotionThreshold(ccdMotionThreshold:Float):Void;
}

@:native('Ammo.btRigidBody')
extern class RigidBody extends CollisionObject {
	public function new(constructionInfo:RigidBodyConstructionInfo):Void;
	public function setMassProps(mass:Float, inertia:Vector3):Void;
	public function getMotionState():MotionState;
	public function applyCentralForce(force:Vector3):Void;
	public function applyForce(force:Vector3, rel_pos:Vector3):Void;
	public function applyCentralImpulse(impulse:Vector3):Void;
	public function applyImpulse(impulse:Vector3, rel_pos:Vector3):Void;
	public function applyTorque(torque:Vector3):Void;
	public function applyTorqueImpulse(torque:Vector3):Void;
	public function clearForces():Void;
	public function setDamping(linear:Float, angular:Float):Void;
	public function updateInertiaTensor():Void;
	// public function getCenterOfMassPosition():Vector3;  // Not implemented in Ammo
	public function getCenterOfMassTransform():Transform;
	public function setCenterOfMassTransform(trans:Transform):Void;
	public function getLinearVelocity():Vector3;
	public function setLinearVelocity(lin_vel:Vector3):Void;
	public function getAngularVelocity():Vector3;
	public function setAngularVelocity(ang_vel:Vector3):Void;
	public function setLinearFactor(linearFactor:Vector3):Void;
	public function setAngularFactor(angFac:Vector3):Void;
	public function setSleepingThresholds(linear:Float, angular:Float):Void;
	public function applyGravity():Void;
	public function getGravity():Vector3;
	public function setGravity(acceleration:Vector3):Void;
}

@:native('Ammo.btCollisionConfiguration')
extern class CollisionConfiguration {
}

@:native('Ammo.btDefaultCollisionConfiguration')
extern class DefaultCollisionConfiguration extends CollisionConfiguration {
	public function new():Void;
}

@:native('Ammo.btSoftBodyRigidBodyCollisionConfiguration')
extern class SoftBodyRigidBodyCollisionConfiguration extends CollisionConfiguration {
	public function new():Void;
}

@:native('Ammo.btDispatcher')
extern class Dispatcher {
	public function getManifoldByIndexInternal(index:Int):PersistentManifold;
	public function	getNumManifolds():Int;
}

@:native('Ammo.btCollisionDispatcher')
extern class CollisionDispatcher extends Dispatcher {
	public function new(collisionConfiguration:CollisionConfiguration):Void;
}

@:native('Ammo.btBroadphaseInterface')
extern class BroadphaseInterface {
}

@:native('Ammo.btDbvtBroadphase')
extern class DbvtBroadphase extends BroadphaseInterface {
	public function new():Void;
}

@:native('Ammo.btAxisSweep3')
extern class AxisSweep3 extends BroadphaseInterface {
	public function new(worldAabbMin:Vector3, worldAabbMax:Vector3):Void;
}

@:native('Ammo.btConstraintSolver')
extern class ConstraintSolver {
}

@:native('Ammo.btSequentialImpulseConstraintSolver')
extern class SequentialImpulseConstraintSolver extends ConstraintSolver {
	public function new():Void;
}

@:native('Ammo.btDefaultSoftBodySolver')
extern class DefaultSoftBodySolver extends ConstraintSolver {
	public function new():Void;
}

@:native('Ammo.RayResultCallback')
extern class RayResultCallback {
	public function hasHit():Bool;
	public function new():Void;
	public function get_m_collisionFilterGroup():Int;
    public function set_m_collisionFilterGroup(g:Int):Void;
    public function get_m_collisionFilterMask():Int;
    public function set_m_collisionFilterMask(m:Int):Void;
	public function get_m_collisionObject():CollisionObject;
}

@:native('Ammo.ClosestRayResultCallback')
extern class ClosestRayResultCallback extends RayResultCallback {
	public function new(rayFromWorld:Vector3, rayToWorld:Vector3):Void;
	public function get_m_hitNormalWorld():Vector3;
	public function get_m_hitPointWorld():Vector3;
}

@:native('Ammo.ConcreteContactResultCallback')
extern class ConcreteContactResultCallback extends RayResultCallback {
	public function new():Void;
}

@:native('Ammo.btCollisionWorld')
extern class CollisionWorld {
	public function rayTest(rayFromWorld:Vector3, rayToWorld:Vector3, resultCallback:RayResultCallback):Void;
	public function updateSingleAabb(colObj:CollisionObject):Void;
	public function getPairCache():OverlappingPairCache;
	public function addCollisionObject(collisionObject:CollisionObject):Void;
	public function removeCollisionObject(collisionObject:CollisionObject):Void;
	@:native("addCollisionObject")
	public function addCollisionObjectToGroup(collisionObject:CollisionObject, collisionFilterGroup:Int, collisionFilterMask:Int):Void;
	public function convexSweepTest(castShape:ConvexShape, from:Transform, to:Transform, resultCallback:ConvexResultCallback, allowedCcdPenetration:Float):Void;
	public function setDebugDrawer(debugDrawer:DebugDrawer):Void;
	public function getDebugDrawer():DebugDrawer;
	public function debugDrawWorld():Void;
}

@:native('Ammo.ConvexResultCallback')
extern class ConvexResultCallback {
	public function hasHit():Bool;
	public function new():Void;
	public function get_m_collisionFilterGroup():Int;
	public function set_m_collisionFilterGroup(g:Int):Void;
	public function get_m_collisionFilterMask():Int;
	public function set_m_collisionFilterMask(m:Int):Void;
	public function get_m_closestHitFraction():Float;
}

@:native('Ammo.ClosestConvexResultCallback')
extern class ClosestConvexResultCallback extends ConvexResultCallback {
	public function new(convexFromWorld:Vector3, convexToWorld: Vector3):Void;
	public function get_m_convexFromWorld():Vector3;
	public function get_m_convexToWorld():Vector3;
	public function get_m_hitNormalWorld():Vector3;
	public function get_m_hitPointWorld():Vector3;
}

@:native('Ammo.btDynamicsWorld')
extern class DynamicsWorld extends CollisionWorld {
	public function addRigidBody(body:RigidBody):Void;
	@:native("addRigidBody")
	public function addRigidBodyToGroup(body:RigidBody, group:Int, mask:Int):Void;
	public function removeRigidBody(body:RigidBody):Void;
	public function addAction(action:ActionInterface):Void;
	public function removeAction(action:ActionInterface):Void;
	public function addConstraint(constraint:TypedConstraint, disableCollisionsBetweenLinkedBodies:Bool = false):Void;
	public function removeConstraint(constraint:TypedConstraint):Void;
	public function getGravity():Vector3;
	public function setGravity(v:Vector3):Void;
	public function stepSimulation(timeStep:Float, maxSubSteps:Float = 1, fixedTimeStep:Float = 1.0 / 60.0):Void;
}

@:native('Ammo.btDiscreteDynamicsWorld')
extern class DiscreteDynamicsWorld extends DynamicsWorld {
	public function new(dispatcher:Dispatcher, pairCache:BroadphaseInterface, constraintSolver:ConstraintSolver, collisionConfiguration:CollisionConfiguration):Void;
}

@:native('Ammo.btSoftBodyWorldInfo')
extern class SoftBodyWorldInfo {
	public function set_m_gravity(v:Vector3):Void;
}

@:native('Ammo.btSoftRigidDynamicsWorld')
extern class SoftRigidDynamicsWorld extends DynamicsWorld {
	public function new(dispatcher:Dispatcher, pairCache:BroadphaseInterface, constraintSolver:ConstraintSolver, collisionConfiguration:CollisionConfiguration, softConstraintSolver:ConstraintSolver):Void;
	public function addSoftBody(body:SoftBody, collisionFilterGroup:Int, collisionFilterMask:Int):Void;
	public function removeSoftBody(body:SoftBody):Void;
	public function getWorldInfo():SoftBodyWorldInfo;
}

@:native('Ammo.btSimpleDynamicsWorld')
extern class SimpleDynamicsWorld extends DynamicsWorld {
	public function new(dispatcher:Dispatcher, pairCache:BroadphaseInterface, constraintSolver:ConstraintSolver, collisionConfiguration:CollisionConfiguration):Void;
}

@:native('Ammo.btCollisionShape')
extern class CollisionShape {
	public function calculateLocalInertia(mass:Float, inertia:Vector3):Void;
	public function setMargin(margin:Float):Void;
	public function setLocalScaling(scaling:Vector3):Void;
	public function getLocalScaling():Vector3;
}

@:native('Ammo.btCompoundShape')
extern class CompoundShape extends CollisionShape {
	public function new(enableDynamicAabbTree:Bool = true):Void;
	public function addChildShape(localTransform:Transform, shape:CollisionShape):Void;
}

@:native('Ammo.btConvexShape')
extern class ConvexShape extends CollisionShape {
}

@:native('Ammo.btConcaveShape')
extern class ConcaveShape extends CollisionShape {
}

@:native('Ammo.btConvexInternalShape')
extern class ConvexInternalShape extends ConvexShape {
}

@:native('Ammo.btPolyhedralConvexShape')
extern class PolyhedralConvexShape extends ConvexInternalShape {
}

@:native('Ammo.btBoxShape')
extern class BoxShape extends PolyhedralConvexShape {
	public function new(boxHalfExtents:Vector3):Void;
}

@:native('Ammo.btSphereShape')
extern class SphereShape extends ConvexInternalShape {
	public function new(radius:Float):Void;
}

@:native('Ammo.btStaticPlaneShape')
extern class StaticPlaneShape extends ConcaveShape {
	public function new(planeNormal:Vector3, planeConstant:Float):Void;
}

@:native('Ammo.btPolyhedralConvexAabbCachingShape')
extern class PolyhedralConvexAabbCachingShape extends PolyhedralConvexShape {
}

@:native('Ammo.btConvexHullShape')
extern class ConvexHullShape extends PolyhedralConvexAabbCachingShape {
	public function new():Void;
	public function addPoint(point:Vector3, recalculateLocalAabb:Bool = true):Void;
}

@:native('Ammo.btCapsuleShape')
extern class CapsuleShape extends ConvexInternalShape {
	public function new(radius:Float, height:Float):Void;
	public function getUpAxis():Int;
	public function getRadius():Float;
	public function getHalfHeight():Float;
}

@:native('Ammo.btCapsuleShapeX')
extern class CapsuleShapeX extends CapsuleShape {
	public function new(radius:Float, height:Float):Void;
}

@:native('Ammo.btCapsuleShapeZ')
extern class CapsuleShapeZ extends CapsuleShape {
	public function new(radius:Float, height:Float):Void;
}

@:native('Ammo.btCylinderShape')
extern class CylinderShape extends ConvexInternalShape {
	public function new(halfExtents:Vector3):Void;
}

@:native('Ammo.btCylinderShapeX')
extern class CylinderShapeX extends CylinderShape {
	public function new(halfExtents:Vector3):Void;
}

@:native('Ammo.btCylinderShapeZ')
extern class CylinderShapeZ extends CylinderShape {
	public function new(halfExtents:Vector3):Void;
}

@:native('Ammo.btConeShape')
extern class ConeShape extends ConvexInternalShape {
	public function new(radius:Float, height:Float):Void;
}

@:native('Ammo.btConeShapeX')
extern class ConeShapeX extends ConeShape {
	public function new(radius:Float, height:Float):Void;
}

@:native('Ammo.btConeShapeZ')
extern class ConeShapeZ extends ConeShape {
	public function new(radius:Float, height:Float):Void;
}

@:native('Ammo.btHeightfieldTerrainShape')
extern class HeightfieldTerrainShape extends ConcaveShape {
	// heightDataType - float, double, integer, short, fixedpoint88, uchar
	public function new(heightStickWidth:Int, heightStickLength:Int, heightfieldData:Dynamic, heightScale:Float, minHeight:Float, maxHeight:Float, upAxis:Int, heightDataType:Int, flipQuadEdges:Bool):Void;
}

@:native('Ammo.btStridingMeshInterface')
extern class StridingMeshInterface {
	public function new():Void;
}

@:native('Ammo.btIndexedMesh')
extern class IndexedMesh {
	public function new():Void;
}

@:native('Ammo.btTriangleIndexVertexArray')
extern class TriangleIndexVertexArray extends StridingMeshInterface {
	public function new():Void;
}

@:native('Ammo.btTriangleMesh')
extern class TriangleMesh extends TriangleIndexVertexArray {
	public function new(use32bitIndices:Bool = true, use4componentVertices:Bool = true):Void;
	public function addTriangle(vertex0:Vector3, vertex1:Vector3, vertex2:Vector3, removeDuplicateVertices:Bool = false):Void;
}

@:native('Ammo.btTriangleMeshShape')
extern class TriangleMeshShape extends ConcaveShape {
	public function new(meshInterface:StridingMeshInterface):Void;
}

@:native('Ammo.btBvhTriangleMeshShape')
extern class BvhTriangleMeshShape extends TriangleMeshShape {
	public function new(meshInterface:StridingMeshInterface, useQuantizedAabbCompression:Bool, buildBvh:Bool = true):Void;
}

@:native('Ammo.btGImpactMeshShape')
extern class GImpactMeshShape extends ConcaveShape {
	public function new(meshInterface:StridingMeshInterface):Void;
	public function updateBound():Void;
}

@:native('Ammo.GImpactCollisionAlgorithm')
extern class GImpactCollisionAlgorithm {
	public function new():Void;
	public function registerAlgorithm(dispatcher:CollisionDispatcher):Void;
}

@:native('Ammo.btVehicleTuning')
extern class VehicleTuning extends ActionInterface {
	public function new():Void;
}

@:native('Ammo.btVehicleRaycaster')
extern class VehicleRaycaster {
}

@:native('Ammo.btDefaultVehicleRaycaster')
extern class DefaultVehicleRaycaster extends VehicleRaycaster {
	public function new(world:DynamicsWorld):Void;
}

@:native('Ammo.btWheelInfoConstructionInfo')
extern class RaycastInfo {
	public var m_contactNormalWS:Vector3;
	public var m_contactPointWS:Vector3;
	public var m_suspensionLength:Float;
	public var m_hardPointWS:Vector3;
	public var m_wheelDirectionWS:Vector3;
	public var m_wheelAxleWS:Vector3;
	public var m_isInContact:Bool;
}

@:native('Ammo.btWheelInfoConstructionInfo')
extern class WheelInfoConstructionInfo {
	public function new():Void;
	public var m_chassisConnectionCS:Vector3;
	public var m_wheelDirectionCS:Vector3;
	public var m_wheelAxleCS:Vector3;
	public var m_suspensionRestLength:Float;
	public var m_maxSuspensionTravelCm:Float;
	public var m_wheelRadius:Float;
	public var m_suspensionStiffness:Float;
	public var m_wheelsDampingCompression:Float;
	public var m_wheelsDampingRelaxation:Float;
	public var m_frictionSlip:Float;
	public var m_maxSuspensionForce:Float;
	public var m_bIsFrontWheel:Bool;
}

@:native('Ammo.btWheelInfo')
extern class WheelInfo {
	public function new(ci:WheelInfoConstructionInfo):Void;
    public var m_raycastInfo:RaycastInfo;
    public var m_worldTransform:Transform;
    public var m_chassisConnectionPointCS:Vector3;
    public var m_wheelDirectionCS:Vector3;
    public var m_wheelAxleCS:Vector3;
	public var m_suspensionRestLength1:Float;
	public var m_maxSuspensionTravelCm:Float;
	public function getSuspensionRestLength():Float;
	public var m_suspensionStiffness:Float;
	public var m_wheelsDampingCompression:Float;
	public var m_wheelsDampingRelaxation:Float;
	public var m_frictionSlip:Float;
	public var m_steering:Float;
	public var m_rotation:Float;
	public var m_deltaRotation:Float;
	public var m_rollInfluence:Float;
	public var m_maxSuspensionForce:Float;
    public var m_wheelsRadius:Float;
	public var m_engineForce:Float;
	public var m_brake:Float;
	public var m_bIsFrontWheel:Bool;
    public var m_clippedInvContactDotSuspension:Float;
    public var m_suspensionRelativeVelocity:Float;
    public var m_wheelsSuspensionForce:Float;
    public var m_skidInfo:Float;
}

@:native('Ammo.btRaycastVehicle')
extern class RaycastVehicle extends ActionInterface {
	public function new(tuning:VehicleTuning, chassis:RigidBody, raycaster:VehicleRaycaster):Void;
	public function setCoordinateSystem(rightIndex:Int, upIndex:Int, forwardIndex:Int):Void;
	public function addWheel(connectionPointCS0:Vector3, wheelDirectionCS0:Vector3, wheelAxleCS:Vector3, suspensionRestLength:Float, wheelRadius:Float, tuning:VehicleTuning, isFrontWheel:Bool):WheelInfo;
	public function getNumWheels():Int;
	public function getWheelInfo(index:Int):WheelInfo;
	public function resetSuspension():Void;
	public function getWheelTransformWS(wheelIndex:Int):Transform;
	public function updateWheelTransform(wheelIndex:Int, interpolatedTransform:Bool = true):Void;
	public function applyEngineForce(force:Float, wheel:Int):Void;
	public function setBrake(brake:Float, wheelIndex:Int):Void;
	public function setPitchControl(pitch:Float):Void;
	public function updateSuspension(deltaTime:Float ):Void;
	public function updateFriction(deltaTime:Float ):Void;
	public function setSteeringValue(steering:Float, wheel:Int):Void;
	public function getRightAxis():Int;
	public function getUpAxis():Int;
	public function getForwardAxis():Int;
	public function getForwardVector():Vector3;
	public function getCurrentSpeedKmHour():Float;
}

@:native('Ammo.btPersistentManifold')
extern class PersistentManifold extends TypedObject {
	public function new():Void;
	public function getBody0():CollisionObject;
	public function getBody1():CollisionObject;
	public function getNumContacts():Int;
	public function getContactPoint(index:Int):ManifoldPoint;
}

@:native('Ammo.btManifoldPoint')
extern class ManifoldPoint {
	public function new():Void;
	public function get_m_positionWorldOnA():Vector3;
	public function get_m_positionWorldOnB():Vector3;
	public function get_m_normalWorldOnB():Vector3;
	public function getDistance():Float;
	public function getAppliedImpulse():Float;
}

@:native('Ammo.btTypedConstraint')
extern class TypedConstraint extends TypedObject {
	public function setBreakingImpulseThreshold(threshold:Float):Void;
}

@:native('Ammo.btGeneric6DofConstraint')
extern class Generic6DofConstraint extends TypedConstraint {
	//BT_CONSTRAINT_ERP=1,
	//BT_CONSTRAINT_STOP_ERP,
	//BT_CONSTRAINT_CFM,
	//BT_CONSTRAINT_STOP_CFM
	public function new(rbB:RigidBody, frameInB:Transform, useLinearReferenceFrameB:Bool):Void;
	public static inline function new2(rbA:RigidBody, rbB:RigidBody, frameInA:Transform, frameInB:Transform, useLinearReferenceFrameB:Bool = false):Generic6DofConstraint {
		var _r1 = rbA, _r2 = rbB, _fa = frameInA, _fb = frameInB, _b = useLinearReferenceFrameB;
		return untyped js.Syntax.code("new Ammo.btGeneric6DofConstraint(_r1, _r2, _fa, _fb, _b)");
	}
	public function setLinearLowerLimit(linearLower:Vector3):Void;
	public function setLinearUpperLimit(linearUpper:Vector3):Void;
	public function setAngularLowerLimit(angularLower:Vector3):Void;
	public function setAngularUpperLimit(angularUpper:Vector3):Void;
	public function setParam(num:Int, value:Float, axis:Int = -1):Void;
	public function getFrameOffsetA():Transform;
}

@:native('Ammo.btGeneric6DofSpringConstraint')
extern class Generic6DofSpringConstraint extends Generic6DofConstraint {
	public function new(rbA:RigidBody, rbB:RigidBody, frameInA:Transform, frameInB:Transform, useLinearReferenceFrameB:Bool):Void;
	public function enableSpring(index:Int, onOff:Bool):Void;
    public function setStiffness(index:Int,stiffness:Float):Void;
  	public function setDamping(index:Int,damping:Float):Void;
}

@:native('Ammo.btHingeConstraint')
extern class HingeConstraint extends TypedConstraint {
	public function new(rbA:RigidBody, rbB:RigidBody, pivotInA:Vector3, pivotInB:Vector3, axisInA:Vector3, axisInB:Vector3, useReferenceFrameA:Bool = false):Void;
	public function setLimit(low:Float, high:Float, _softness:Float = 0.9, _biasFactor:Float = 0.3, _relaxationFactor:Float = 1.0):Void;
}

@:native('Ammo.btSliderConstraint')
extern class SliderConstraint extends TypedConstraint {
	public function new(rbA:RigidBody, rbB:RigidBody, frameInA:Transform, frameInB:Transform, useReferenceFrameA:Bool):Void;
	public function setLowerLinLimit(lowerLimit:Float):Void;
    public function setUpperLinLimit(upperLimit:Float):Void;
    public function setLowerAngLimit(lowerAngLimit:Float):Void;
    public function setUpperAngLimit(upperAngLimit:Float):Void;
}

@:native('Ammo.btPoint2PointConstraint')
extern class Point2PointConstraint extends TypedConstraint {
	public function new(rbA:RigidBody, rbB:RigidBody, pivotInA:Vector3, pivotInB:Vector3):Void;
	public function setPivotA(pivotA:Vector3):Void;
	public function setPivotB(pivotB:Vector3):Void;
	public function getPivotInA():Vector3;
	public function getPivotInB():Vector3;
}

@:native('Ammo.Config')
extern class Config {
	public function set_viterations(i:Int):Void;
	public function set_piterations(i:Int):Void;
	public function set_collisions(i:Int):Void;
	public function set_kDF(f:Float):Void;
	public function set_kDP(f:Float):Void;
	public function set_kPR(f:Float):Void;
	public function set_kVC(f:Float):Void;
	public function set_kAHR(f:Float):Void;
}

@:native('Ammo.tNodeArray')
extern class TNodeArray {
	public function at(i:Int):Node;
	public function size():Int;
}

@:native('Ammo.tMaterialArray')
extern class TMaterialArray {
	public function at(i:Int):Material;
}

@:native('Ammo.tAnchorArray')
extern class TAnchorArray {
	public function new();
	public function at(i:Int):Anchor;
	public function clear():Void;
	public function size():Int;
	public function push_back(anc:Anchor):Void;
	public function pop_back():Void;
}

@:native('Ammo.Node')
extern class Node {
	public function get_m_x():Vector3;
	public function get_m_n():Vector3;
}

@:native('Ammo.Material')
extern class Material {
	public function new();
	public function set_m_kLST(kAST:Float):Void;
	public function get_m_kLST():Void;
	public function set_m_kAST(kAST:Float):Void;
	public function get_m_kAST():Void;
	public function set_m_kVST(kVST:Float):Void;
	public function get_m_kVST():Float;
	public function set_m_flags(flags:Int):Void;
	public function get_m_flags():Int;
}

@:native('Ammo.Anchor')
extern class Anchor {
	public function set_m_node(node:Node):Void;
	public function get_m_node():Node;
	public function set_m_local(local:Vector3):Void;
	public function get_m_local():Vector3;
	public function set_m_body(body:RigidBody):Void;
	public function get_m_body():RigidBody;
	public function set_m_influence(influence:Float):Void;
	public function get_m_influence():Float;
	//public function set_m_c0(c0:Matrix3x3):Void;
	//public function get_m_c0():Matrix3x3;
	public function set_m_c1(c1:Vector3):Void;
	public function get_m_c1():Vector3;
	public function set_m_c2(c2:Float):Void;
	public function get_m_c2():Float;
}

@:native('Ammo.btSoftBody')
extern class SoftBody extends CollisionObject {
	public function get_m_nodes():TNodeArray;
	public function get_m_cfg():Config;
	public function get_m_materials():TMaterialArray;
	public function get_m_anchors():TAnchorArray;
	public function appendMaterial(): Material;
	public function updateBounds(): Void;
	public function setTotalMass(mass:Float, fromfaces:Bool = false):Void;
	public function generateClusters(k:Int, maxiterations:Int = 8192):Void;
	public function generateBendingConstraints(distance:Int, mat:Dynamic = 0):Void;
	public function appendNode(x:Vector3, m:Float):Void;
	public function appendAnchor(node:Int, body:RigidBody, disableCollisionBetweenLinkedBodies:Bool, influence:Float):Void;
	public function appendLink(node:Int, node1:Int, mat:Material, bcheckexist:Bool=false):Void;
	public function appendFace(node:Int, node1:Int, node3:Int, mat:Material):Void;
	public function addForce(f:Vector3, node:Int):Void;
}

@:native('Ammo.btSoftBodyHelpers')
extern class SoftBodyHelpers {
	public function new():Void;
	function CreateFromTriMesh(worldInfo:SoftBodyWorldInfo, vertices:haxe.ds.Vector<Float>, triangles:haxe.ds.Vector<Int>, ntriangles:Int, randomizeConstraints:Bool = true):SoftBody;
}

@:native('Ammo.btOverlappingPairCallback')
extern class OverlappingPairCallback {
}

@:native('Ammo.btGhostPairCallback')
extern class GhostPairCallback extends OverlappingPairCallback {
	public function new():Void;
}

@:native('Ammo.btOverlappingPairCache')
extern class OverlappingPairCache {
	public function setInternalGhostPairCallback(ghostPairCallback:OverlappingPairCallback):Void;
}

@:native('Ammo.btGhostObject')
extern class GhostObject extends CollisionObject {
	public function new():Void;
	public function getNumOverlappingObjects():Int;
	public function getOverlappingObject(index:Int):CollisionObject;
}

@:native('Ammo.btPairCachingGhostObject')
extern class PairCachingGhostObject extends GhostObject {
	public function new():Void;
}

@:native('Ammo.btKinematicCharacterController')
extern class KinematicCharacterController extends ActionInterface {
	public function new(ghostObject:PairCachingGhostObject, convexShape:ConvexShape, stepHeight:Float, upAxis:Int = 1):Void;
	public function setUpAxis(axis:Int):Void; // setUp in cpp
	public function jump():Void;
	public function setGravity(gravity:Float):Void;
	public function getGravity():Float;
	public function canJump():Bool;
	public function onGround():Bool;
	public function setWalkDirection(walkDirection:Vector3):Void;
	public function setVelocityForTimeInterval(velocity:Vector3, timeInterval:Float):Void;
	public function warp(origin:Vector3):Void;
	public function preStep(collisionWorld:CollisionWorld):Void;
	public function playerStep(collisionWorld:CollisionWorld, dt:Float):Void;
	public function setFallSpeed(fallSpeed:Float):Void;
	public function setJumpSpeed(jumpSpeed:Float):Void;
	public function setMaxJumpHeight(maxJumpHeight:Float):Void;
	public function setMaxSlope(slopeRadians:Float):Void;
	public function getMaxSlope():Float;
	public function getGhostObject():PairCachingGhostObject;
	public function setUseGhostSweepTest(useGhostObjectSweepTest:Bool):Void;
	public function setUpInterpolate(value:Bool):Void;
}



@:native('Ammo')
extern class Ammo {
	public static function destroy(obj:Dynamic):Void;
	public static function castObject(obj:Dynamic, to:Class<Dynamic>):Dynamic;
	public static function _malloc(byteSize:Int):Int;
	public static var HEAPU8:Dynamic;
	public static var HEAPF32:Dynamic;
}

#end