Add bullet default TaskScheduler

BulletSharp/LinearMath/Threads.cs

@@ -56,6 +56,33 @@ internal TaskSchedulerPpl(IntPtr native)
 		}
 	}
 
+	/// <summary>
+	/// Default task sheduler not get but created, so mast be disposable 
+	/// </summary>
+    public sealed class TaskSchedulerDefault : TaskScheduler, System.IDisposable
+    {
+        internal TaskSchedulerDefault(IntPtr native)
+            : base(native)
+        {
+        }
+
+        ~TaskSchedulerDefault()
+        {
+            DestroyNativeObject();
+        }
+        private void DestroyNativeObject()
+        {
+            if (Native != IntPtr.Zero)
+                btThreads_DestroyDefaultTaskScheduler(Native);
+        }
+
+        void IDisposable.Dispose()
+        {
+            DestroyNativeObject();
+            GC.SuppressFinalize(this);
+        }
+    }
+
 	public class Threads
 	{
 		private static TaskSchedulerOpenMP _taskSchedulerOpenMP;
@@ -122,5 +149,14 @@ public static TaskSchedulerTbb GetTbbTaskScheduler()
 			}
 			return _taskSchedulerTbb;
 		}
+
+        public static TaskSchedulerDefault CreateDefaultTaskSheduler()
+        {
+            IntPtr native = btThreads_CreateGetDefaultTaskScheduler();
+            if (native != IntPtr.Zero)
+                return new TaskSchedulerDefault(native);
+            return null;
+        }
+
 	}
 }

BulletSharp/UnsafeNativeMethods.cs

@@ -6601,7 +6601,14 @@ public static extern IntPtr btSerializerWrapper_new(IntPtr allocateCallback, Int
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btTetrahedronShapeEx_setVertices(IntPtr obj, [In] ref Vector3 v0, [In] ref Vector3 v1, [In] ref Vector3 v2, [In] ref Vector3 v3);
 
-		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+
+        [DllImport(Native.Dll, CallingConvention = Native.Conv)]
+        public static extern IntPtr btThreads_CreateGetDefaultTaskScheduler();
+
+        [DllImport(Native.Dll, CallingConvention = Native.Conv)]
+        public static extern void btThreads_DestroyDefaultTaskScheduler(IntPtr taskScheduler);
+
+        [DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btThreads_btGetOpenMPTaskScheduler();
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btThreads_btGetPPLTaskScheduler();

libbulletc/src/btThreads_wrap.cpp

@@ -22,6 +22,15 @@ void btITaskScheduler_setNumThreads(btITaskScheduler* obj, int numThreads)
 	obj->setNumThreads(numThreads);
 }
 
+
+btITaskScheduler* btThreads_CreateGetDefaultTaskScheduler()
+{
+	return btCreateDefaultTaskScheduler();
+}
+void btThreads_DestroyDefaultTaskScheduler(btITaskScheduler* obj)
+{
+	delete obj;
+}
 btITaskScheduler* btThreads_btGetSequentialTaskScheduler()
 {
 	return btGetSequentialTaskScheduler();

libbulletc/src/btThreads_wrap.h

@@ -8,6 +8,9 @@ extern "C" {
 	EXPORT int btITaskScheduler_getNumThreads(btITaskScheduler* obj);
 	EXPORT void btITaskScheduler_setNumThreads(btITaskScheduler* obj, int numThreads);
 
+	EXPORT btITaskScheduler* btThreads_CreateGetDefaultTaskScheduler();
+	EXPORT void btThreads_DestroyDefaultTaskScheduler(btITaskScheduler* ts);
+
 	EXPORT btITaskScheduler* btThreads_btGetSequentialTaskScheduler();
 	EXPORT btITaskScheduler* btThreads_btGetOpenMPTaskScheduler();
 	EXPORT btITaskScheduler* btThreads_btGetPPLTaskScheduler();