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authorMelanie Thielker2017-01-05 19:07:37 +0000
committerMelanie Thielker2017-01-05 19:07:37 +0000
commitb16abc8166c29585cb76cc55c3bdd76e5833cb4f (patch)
tree6a34f465a74b7a3a6dc00a3d7aa8dcc25ac3e3a5 /OpenSim/Region/PhysicsModules/Ode
parentMake it possible to disable the bakes module in the way it is described in co... (diff)
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Massive tab and trailing space cleanup
Diffstat (limited to 'OpenSim/Region/PhysicsModules/Ode')
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEApi.cs2470
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs20
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs2
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEModule.cs8
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs92
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs14
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/OdeScene.cs78
7 files changed, 1342 insertions, 1342 deletions
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs b/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs
index 12086c8..c851b12 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs
@@ -34,8 +34,8 @@ PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 * 37 *
38 * changes by opensim team; 38 * changes by opensim team;
39 * changes by Aurora team http://www.aurora-sim.org/ 39 * changes by Aurora team http://www.aurora-sim.org/
40 * changes by Ubit Umarov 40 * changes by Ubit Umarov
41 */ 41 */
@@ -52,18 +52,18 @@ namespace OpenSim.Region.PhysicsModule.ODE
52// at least we save same memory and memory access time, FPU performance on intel usually is similar 52// at least we save same memory and memory access time, FPU performance on intel usually is similar
53// using dReal = System.Double; 53// using dReal = System.Double;
54//#else 54//#else
55 using dReal = System.Single; 55 using dReal = System.Single;
56//#endif 56//#endif
57 57
58 public static class d 58 public static class d
59 { 59 {
60 public static dReal Infinity = dReal.MaxValue; 60 public static dReal Infinity = dReal.MaxValue;
61 public static int NTotalBodies = 0; 61 public static int NTotalBodies = 0;
62 public static int NTotalGeoms = 0; 62 public static int NTotalGeoms = 0;
63 63
64 public const uint CONTACTS_UNIMPORTANT = 0x80000000; 64 public const uint CONTACTS_UNIMPORTANT = 0x80000000;
65 65
66 #region Flags and Enumerations 66 #region Flags and Enumerations
67 67
68 [Flags] 68 [Flags]
69 public enum AllocateODEDataFlags : uint 69 public enum AllocateODEDataFlags : uint
@@ -79,101 +79,101 @@ namespace OpenSim.Region.PhysicsModule.ODE
79 dInitFlagManualThreadCleanup = 0x00000001 79 dInitFlagManualThreadCleanup = 0x00000001
80 } 80 }
81 81
82 [Flags] 82 [Flags]
83 public enum ContactFlags : int 83 public enum ContactFlags : int
84 { 84 {
85 Mu2 = 0x001, 85 Mu2 = 0x001,
86 FDir1 = 0x002, 86 FDir1 = 0x002,
87 Bounce = 0x004, 87 Bounce = 0x004,
88 SoftERP = 0x008, 88 SoftERP = 0x008,
89 SoftCFM = 0x010, 89 SoftCFM = 0x010,
90 Motion1 = 0x020, 90 Motion1 = 0x020,
91 Motion2 = 0x040, 91 Motion2 = 0x040,
92 MotionN = 0x080, 92 MotionN = 0x080,
93 Slip1 = 0x100, 93 Slip1 = 0x100,
94 Slip2 = 0x200, 94 Slip2 = 0x200,
95 Approx0 = 0x0000, 95 Approx0 = 0x0000,
96 Approx1_1 = 0x1000, 96 Approx1_1 = 0x1000,
97 Approx1_2 = 0x2000, 97 Approx1_2 = 0x2000,
98 Approx1 = 0x3000 98 Approx1 = 0x3000
99 } 99 }
100 100
101 public enum GeomClassID : int 101 public enum GeomClassID : int
102 { 102 {
103 SphereClass, 103 SphereClass,
104 BoxClass, 104 BoxClass,
105 CapsuleClass, 105 CapsuleClass,
106 CylinderClass, 106 CylinderClass,
107 PlaneClass, 107 PlaneClass,
108 RayClass, 108 RayClass,
109 ConvexClass, 109 ConvexClass,
110 GeomTransformClass, 110 GeomTransformClass,
111 TriMeshClass, 111 TriMeshClass,
112 HeightfieldClass, 112 HeightfieldClass,
113 FirstSpaceClass, 113 FirstSpaceClass,
114 SimpleSpaceClass = FirstSpaceClass, 114 SimpleSpaceClass = FirstSpaceClass,
115 HashSpaceClass, 115 HashSpaceClass,
116 QuadTreeSpaceClass, 116 QuadTreeSpaceClass,
117 LastSpaceClass = QuadTreeSpaceClass, 117 LastSpaceClass = QuadTreeSpaceClass,
118 ubtTerrainClass, 118 ubtTerrainClass,
119 FirstUserClass, 119 FirstUserClass,
120 LastUserClass = FirstUserClass + MaxUserClasses - 1, 120 LastUserClass = FirstUserClass + MaxUserClasses - 1,
121 NumClasses, 121 NumClasses,
122 MaxUserClasses = 5 122 MaxUserClasses = 5
123 } 123 }
124 124
125 public enum JointType : int 125 public enum JointType : int
126 { 126 {
127 None, 127 None,
128 Ball, 128 Ball,
129 Hinge, 129 Hinge,
130 Slider, 130 Slider,
131 Contact, 131 Contact,
132 Universal, 132 Universal,
133 Hinge2, 133 Hinge2,
134 Fixed, 134 Fixed,
135 Null, 135 Null,
136 AMotor, 136 AMotor,
137 LMotor, 137 LMotor,
138 Plane2D 138 Plane2D
139 } 139 }
140 140
141 public enum JointParam : int 141 public enum JointParam : int
142 { 142 {
143 LoStop, 143 LoStop,
144 HiStop, 144 HiStop,
145 Vel, 145 Vel,
146 FMax, 146 FMax,
147 FudgeFactor, 147 FudgeFactor,
148 Bounce, 148 Bounce,
149 CFM, 149 CFM,
150 StopERP, 150 StopERP,
151 StopCFM, 151 StopCFM,
152 SuspensionERP, 152 SuspensionERP,
153 SuspensionCFM, 153 SuspensionCFM,
154 LoStop2 = 256, 154 LoStop2 = 256,
155 HiStop2, 155 HiStop2,
156 Vel2, 156 Vel2,
157 FMax2, 157 FMax2,
158 FudgeFactor2, 158 FudgeFactor2,
159 Bounce2, 159 Bounce2,
160 CFM2, 160 CFM2,
161 StopERP2, 161 StopERP2,
162 StopCFM2, 162 StopCFM2,
163 SuspensionERP2, 163 SuspensionERP2,
164 SuspensionCFM2, 164 SuspensionCFM2,
165 LoStop3 = 512, 165 LoStop3 = 512,
166 HiStop3, 166 HiStop3,
167 Vel3, 167 Vel3,
168 FMax3, 168 FMax3,
169 FudgeFactor3, 169 FudgeFactor3,
170 Bounce3, 170 Bounce3,
171 CFM3, 171 CFM3,
172 StopERP3, 172 StopERP3,
173 StopCFM3, 173 StopCFM3,
174 SuspensionERP3, 174 SuspensionERP3,
175 SuspensionCFM3 175 SuspensionCFM3
176 } 176 }
177 177
178 public enum dSweepAndPruneAxis : int 178 public enum dSweepAndPruneAxis : int
179 { 179 {
@@ -185,24 +185,24 @@ namespace OpenSim.Region.PhysicsModule.ODE
185 ZYX = ((2)|(1<<2)|(0<<4)) 185 ZYX = ((2)|(1<<2)|(0<<4))
186 } 186 }
187 187
188 #endregion 188 #endregion
189 189
190 #region Callbacks 190 #region Callbacks
191 191
192 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 192 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
193 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); 193 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
194 194
195 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 195 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
196 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); 196 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
197 197
198 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 198 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
199 public delegate void GetAABBFn(IntPtr geom, out AABB aabb); 199 public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
200 200
201 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 201 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
202 public delegate ColliderFn GetColliderFnFn(int num); 202 public delegate ColliderFn GetColliderFnFn(int num);
203 203
204 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 204 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
205 public delegate void GeomDtorFn(IntPtr o); 205 public delegate void GeomDtorFn(IntPtr o);
206 206
207 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 207 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
208 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); 208 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
@@ -210,230 +210,230 @@ namespace OpenSim.Region.PhysicsModule.ODE
210 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 210 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
211 public delegate dReal OSTerrainGetHeight(IntPtr p_user_data, int x, int z); 211 public delegate dReal OSTerrainGetHeight(IntPtr p_user_data, int x, int z);
212 212
213 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 213 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
214 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); 214 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
215 215
216 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 216 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
217 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); 217 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
218 218
219 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 219 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
220 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); 220 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
221 221
222 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 222 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
223 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); 223 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
224 224
225 #endregion 225 #endregion
226 226
227 #region Structs 227 #region Structs
228 228
229 [StructLayout(LayoutKind.Sequential)] 229 [StructLayout(LayoutKind.Sequential)]
230 public struct AABB 230 public struct AABB
231 { 231 {
232 public dReal MinX, MaxX; 232 public dReal MinX, MaxX;
233 public dReal MinY, MaxY; 233 public dReal MinY, MaxY;
234 public dReal MinZ, MaxZ; 234 public dReal MinZ, MaxZ;
235 } 235 }
236 236
237 237
238 [StructLayout(LayoutKind.Sequential)] 238 [StructLayout(LayoutKind.Sequential)]
239 public struct Contact 239 public struct Contact
240 { 240 {
241 public SurfaceParameters surface; 241 public SurfaceParameters surface;
242 public ContactGeom geom; 242 public ContactGeom geom;
243 public Vector3 fdir1; 243 public Vector3 fdir1;
244 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact)); 244 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
245 } 245 }
246 246
247 247
248 [StructLayout(LayoutKind.Sequential)] 248 [StructLayout(LayoutKind.Sequential)]
249 public struct ContactGeom 249 public struct ContactGeom
250 { 250 {
251 251
252 public Vector3 pos; 252 public Vector3 pos;
253 public Vector3 normal; 253 public Vector3 normal;
254 public dReal depth; 254 public dReal depth;
255 public IntPtr g1; 255 public IntPtr g1;
256 public IntPtr g2; 256 public IntPtr g2;
257 public int side1; 257 public int side1;
258 public int side2; 258 public int side2;
259 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom)); 259 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
260 } 260 }
261 261
262 [StructLayout(LayoutKind.Sequential)] 262 [StructLayout(LayoutKind.Sequential)]
263 public struct GeomClass 263 public struct GeomClass
264 { 264 {
265 public int bytes; 265 public int bytes;
266 public GetColliderFnFn collider; 266 public GetColliderFnFn collider;
267 public GetAABBFn aabb; 267 public GetAABBFn aabb;
268 public AABBTestFn aabb_test; 268 public AABBTestFn aabb_test;
269 public GeomDtorFn dtor; 269 public GeomDtorFn dtor;
270 } 270 }
271 271
272 272
273 [StructLayout(LayoutKind.Sequential)] 273 [StructLayout(LayoutKind.Sequential)]
274 public struct JointFeedback 274 public struct JointFeedback
275 { 275 {
276 public Vector3 f1; 276 public Vector3 f1;
277 public Vector3 t1; 277 public Vector3 t1;
278 public Vector3 f2; 278 public Vector3 f2;
279 public Vector3 t2; 279 public Vector3 t2;
280 } 280 }
281 281
282 282
283 [StructLayout(LayoutKind.Sequential)] 283 [StructLayout(LayoutKind.Sequential)]
284 public struct Mass 284 public struct Mass
285 { 285 {
286 public dReal mass; 286 public dReal mass;
287 public Vector4 c; 287 public Vector4 c;
288 public Matrix3 I; 288 public Matrix3 I;
289 } 289 }
290 290
291 291
292 [StructLayout(LayoutKind.Sequential)] 292 [StructLayout(LayoutKind.Sequential)]
293 public struct Matrix3 293 public struct Matrix3
294 { 294 {
295 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) 295 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
296 { 296 {
297 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; 297 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
298 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; 298 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
299 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; 299 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
300 } 300 }
301 public dReal M00, M10, M20; 301 public dReal M00, M10, M20;
302 private dReal _m30; 302 private dReal _m30;
303 public dReal M01, M11, M21; 303 public dReal M01, M11, M21;
304 private dReal _m31; 304 private dReal _m31;
305 public dReal M02, M12, M22; 305 public dReal M02, M12, M22;
306 private dReal _m32; 306 private dReal _m32;
307 } 307 }
308 308
309 [StructLayout(LayoutKind.Sequential)] 309 [StructLayout(LayoutKind.Sequential)]
310 public struct Matrix4 310 public struct Matrix4
311 { 311 {
312 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, 312 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
313 dReal m01, dReal m11, dReal m21, dReal m31, 313 dReal m01, dReal m11, dReal m21, dReal m31,
314 dReal m02, dReal m12, dReal m22, dReal m32, 314 dReal m02, dReal m12, dReal m22, dReal m32,
315 dReal m03, dReal m13, dReal m23, dReal m33) 315 dReal m03, dReal m13, dReal m23, dReal m33)
316 { 316 {
317 M00 = m00; M10 = m10; M20 = m20; M30 = m30; 317 M00 = m00; M10 = m10; M20 = m20; M30 = m30;
318 M01 = m01; M11 = m11; M21 = m21; M31 = m31; 318 M01 = m01; M11 = m11; M21 = m21; M31 = m31;
319 M02 = m02; M12 = m12; M22 = m22; M32 = m32; 319 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
320 M03 = m03; M13 = m13; M23 = m23; M33 = m33; 320 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
321 } 321 }
322 public dReal M00, M10, M20, M30; 322 public dReal M00, M10, M20, M30;
323 public dReal M01, M11, M21, M31; 323 public dReal M01, M11, M21, M31;
324 public dReal M02, M12, M22, M32; 324 public dReal M02, M12, M22, M32;
325 public dReal M03, M13, M23, M33; 325 public dReal M03, M13, M23, M33;
326 } 326 }
327 327
328 [StructLayout(LayoutKind.Sequential)] 328 [StructLayout(LayoutKind.Sequential)]
329 public struct Quaternion 329 public struct Quaternion
330 { 330 {
331 public dReal W, X, Y, Z; 331 public dReal W, X, Y, Z;
332 } 332 }
333 333
334 334
335 [StructLayout(LayoutKind.Sequential)] 335 [StructLayout(LayoutKind.Sequential)]
336 public struct SurfaceParameters 336 public struct SurfaceParameters
337 { 337 {
338 public ContactFlags mode; 338 public ContactFlags mode;
339 public dReal mu; 339 public dReal mu;
340 public dReal mu2; 340 public dReal mu2;
341 public dReal bounce; 341 public dReal bounce;
342 public dReal bounce_vel; 342 public dReal bounce_vel;
343 public dReal soft_erp; 343 public dReal soft_erp;
344 public dReal soft_cfm; 344 public dReal soft_cfm;
345 public dReal motion1; 345 public dReal motion1;
346 public dReal motion2; 346 public dReal motion2;
347 public dReal motionN; 347 public dReal motionN;
348 public dReal slip1; 348 public dReal slip1;
349 public dReal slip2; 349 public dReal slip2;
350 } 350 }
351 351
352 352
353 [StructLayout(LayoutKind.Sequential)] 353 [StructLayout(LayoutKind.Sequential)]
354 public struct Vector3 354 public struct Vector3
355 { 355 {
356 public Vector3(dReal x, dReal y, dReal z) 356 public Vector3(dReal x, dReal y, dReal z)
357 { 357 {
358 X = x; Y = y; Z = z; _w = 0.0f; 358 X = x; Y = y; Z = z; _w = 0.0f;
359 } 359 }
360 public dReal X, Y, Z; 360 public dReal X, Y, Z;
361 private dReal _w; 361 private dReal _w;
362 } 362 }
363 363
364 364
365 [StructLayout(LayoutKind.Sequential)] 365 [StructLayout(LayoutKind.Sequential)]
366 public struct Vector4 366 public struct Vector4
367 { 367 {
368 public Vector4(dReal x, dReal y, dReal z, dReal w) 368 public Vector4(dReal x, dReal y, dReal z, dReal w)
369 { 369 {
370 X = x; Y = y; Z = z; W = w; 370 X = x; Y = y; Z = z; W = w;
371 } 371 }
372 public dReal X, Y, Z, W; 372 public dReal X, Y, Z, W;
373 } 373 }
374 374
375 #endregion 375 #endregion
376 376
377 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] 377 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
378 public static extern int AllocateODEDataForThread(uint ODEInitFlags); 378 public static extern int AllocateODEDataForThread(uint ODEInitFlags);
379 379
380 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] 380 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
381 public static extern bool AreConnected(IntPtr b1, IntPtr b2); 381 public static extern bool AreConnected(IntPtr b1, IntPtr b2);
382 382
383 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] 383 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
384 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); 384 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
385 385
386 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] 386 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
387 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); 387 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
388 388
389 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] 389 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
390 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 390 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
391 391
392 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] 392 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
393 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 393 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
394 394
395 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] 395 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
396 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); 396 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
397 397
398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] 398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
399 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 399 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
400 400
401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] 401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
402 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 402 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
403 403
404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] 404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
405 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); 405 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
406 406
407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] 407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
408 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); 408 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
409 409
410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] 410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
411 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); 411 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
412 412
413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] 413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
414 public static extern void BodyCopyPosition(IntPtr body, out dReal X); 414 public static extern void BodyCopyPosition(IntPtr body, out dReal X);
415 415
416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] 416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
417 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); 417 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
418 418
419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] 419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
420 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); 420 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
421 421
422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] 422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
423 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); 423 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
424 424
425 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] 425 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
426 public static extern void BodyCopyRotation(IntPtr body, out dReal M00); 426 public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
427 427
428 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] 428 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
429 public static extern IntPtr BodyiCreate(IntPtr world); 429 public static extern IntPtr BodyiCreate(IntPtr world);
430 public static IntPtr BodyCreate(IntPtr world) 430 public static IntPtr BodyCreate(IntPtr world)
431 { 431 {
432 NTotalBodies++; 432 NTotalBodies++;
433 return BodyiCreate(world); 433 return BodyiCreate(world);
434 } 434 }
435 435
436 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] 436 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
437 public static extern void BodyiDestroy(IntPtr body); 437 public static extern void BodyiDestroy(IntPtr body);
438 public static void BodyDestroy(IntPtr body) 438 public static void BodyDestroy(IntPtr body)
439 { 439 {
@@ -441,114 +441,114 @@ namespace OpenSim.Region.PhysicsModule.ODE
441 BodyiDestroy(body); 441 BodyiDestroy(body);
442 } 442 }
443 443
444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] 444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
445 public static extern void BodyDisable(IntPtr body); 445 public static extern void BodyDisable(IntPtr body);
446 446
447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] 447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
448 public static extern void BodyEnable(IntPtr body); 448 public static extern void BodyEnable(IntPtr body);
449 449
450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
451 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); 451 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
452 452
453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
454 public static extern bool BodyGetAutoDisableFlag(IntPtr body); 454 public static extern bool BodyGetAutoDisableFlag(IntPtr body);
455 455
456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] 456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
457 public static extern void BodyGetAutoDisableDefaults(IntPtr body); 457 public static extern void BodyGetAutoDisableDefaults(IntPtr body);
458 458
459 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 459 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
460 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); 460 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
461 461
462 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 462 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
463 public static extern int BodyGetAutoDisableSteps(IntPtr body); 463 public static extern int BodyGetAutoDisableSteps(IntPtr body);
464 464
465 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 465 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
466 public static extern dReal BodyGetAutoDisableTime(IntPtr body); 466 public static extern dReal BodyGetAutoDisableTime(IntPtr body);
467 467
468 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] 468 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
469 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); 469 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
470 public static Vector3 BodyGetAngularVel(IntPtr body) 470 public static Vector3 BodyGetAngularVel(IntPtr body)
471 { 471 {
472 unsafe { return *(BodyGetAngularVelUnsafe(body)); } 472 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
473 } 473 }
474 474
475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] 475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
476 public static extern IntPtr BodyGetData(IntPtr body); 476 public static extern IntPtr BodyGetData(IntPtr body);
477 477
478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] 478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
479 public static extern int BodyGetFiniteRotationMode(IntPtr body); 479 public static extern int BodyGetFiniteRotationMode(IntPtr body);
480 480
481 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] 481 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
482 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); 482 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
483 483
484 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] 484 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
485 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); 485 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
486 public static Vector3 BodyGetForce(IntPtr body) 486 public static Vector3 BodyGetForce(IntPtr body)
487 { 487 {
488 unsafe { return *(BodyGetForceUnsafe(body)); } 488 unsafe { return *(BodyGetForceUnsafe(body)); }
489 } 489 }
490 490
491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] 491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
492 public static extern bool BodyGetGravityMode(IntPtr body); 492 public static extern bool BodyGetGravityMode(IntPtr body);
493 493
494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] 494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
495 public static extern int BodyGetGyroscopicMode(IntPtr body); 495 public static extern int BodyGetGyroscopicMode(IntPtr body);
496 496
497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] 497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
498 public static extern IntPtr BodyGetJoint(IntPtr body, int index); 498 public static extern IntPtr BodyGetJoint(IntPtr body, int index);
499 499
500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] 500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
501 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); 501 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
502 public static Vector3 BodyGetLinearVel(IntPtr body) 502 public static Vector3 BodyGetLinearVel(IntPtr body)
503 { 503 {
504 unsafe { return *(BodyGetLinearVelUnsafe(body)); } 504 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
505 } 505 }
506 506
507 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] 507 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
508 public static extern void BodyGetMass(IntPtr body, out Mass mass); 508 public static extern void BodyGetMass(IntPtr body, out Mass mass);
509 509
510 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] 510 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
511 public static extern int BodyGetNumJoints(IntPtr body); 511 public static extern int BodyGetNumJoints(IntPtr body);
512 512
513 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] 513 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
514 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 514 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
515 515
516 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] 516 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
517 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); 517 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
518 public static Vector3 BodyGetPosition(IntPtr body) 518 public static Vector3 BodyGetPosition(IntPtr body)
519 { 519 {
520 unsafe { return *(BodyGetPositionUnsafe(body)); } 520 unsafe { return *(BodyGetPositionUnsafe(body)); }
521 } 521 }
522 522
523 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] 523 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
524 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 524 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
525 525
526 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] 526 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
527 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); 527 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
528 public static Quaternion BodyGetQuaternion(IntPtr body) 528 public static Quaternion BodyGetQuaternion(IntPtr body)
529 { 529 {
530 unsafe { return *(BodyGetQuaternionUnsafe(body)); } 530 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
531 } 531 }
532 532
533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] 533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
534 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 534 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
535 535
536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] 536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
537 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 537 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
538 538
539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] 539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
540 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); 540 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
541 public static Matrix3 BodyGetRotation(IntPtr body) 541 public static Matrix3 BodyGetRotation(IntPtr body)
542 { 542 {
543 unsafe { return *(BodyGetRotationUnsafe(body)); } 543 unsafe { return *(BodyGetRotationUnsafe(body)); }
544 } 544 }
545 545
546 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] 546 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
547 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); 547 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
548 public static Vector3 BodyGetTorque(IntPtr body) 548 public static Vector3 BodyGetTorque(IntPtr body)
549 { 549 {
550 unsafe { return *(BodyGetTorqueUnsafe(body)); } 550 unsafe { return *(BodyGetTorqueUnsafe(body)); }
551 } 551 }
552 552
553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] 553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
554 public static extern IntPtr BodyGetWorld(IntPtr body); 554 public static extern IntPtr BodyGetWorld(IntPtr body);
@@ -560,38 +560,38 @@ namespace OpenSim.Region.PhysicsModule.ODE
560 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom); 560 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
561 561
562 562
563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] 563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
564 public static extern bool BodyIsEnabled(IntPtr body); 564 public static extern bool BodyIsEnabled(IntPtr body);
565 565
566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] 566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
567 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); 567 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
568 568
569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
570 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); 570 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
571 571
572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] 572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
573 public static extern void BodySetAutoDisableDefaults(IntPtr body); 573 public static extern void BodySetAutoDisableDefaults(IntPtr body);
574 574
575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
576 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); 576 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
577 577
578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
579 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); 579 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
580 580
581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
582 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); 582 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
583 583
584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
585 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); 585 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
586 586
587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] 587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
588 public static extern void BodySetData(IntPtr body, IntPtr data); 588 public static extern void BodySetData(IntPtr body, IntPtr data);
589 589
590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] 590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
591 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); 591 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
592 592
593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] 593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
594 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); 594 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
595 595
596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] 596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
597 public static extern void BodySetLinearDamping(IntPtr body, dReal scale); 597 public static extern void BodySetLinearDamping(IntPtr body, dReal scale);
@@ -620,11 +620,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] 620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
621 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); 621 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
622 622
623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] 623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
624 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); 624 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
625 625
626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] 626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
627 public static extern void BodySetGravityMode(IntPtr body, bool mode); 627 public static extern void BodySetGravityMode(IntPtr body, bool mode);
628 628
629 /// <summary> 629 /// <summary>
630 /// Sets the Gyroscopic term status on the body specified. 630 /// Sets the Gyroscopic term status on the body specified.
@@ -634,76 +634,76 @@ namespace OpenSim.Region.PhysicsModule.ODE
634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] 634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
635 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); 635 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
636 636
637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] 637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
638 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); 638 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
639 639
640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] 640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
641 public static extern void BodySetMass(IntPtr body, ref Mass mass); 641 public static extern void BodySetMass(IntPtr body, ref Mass mass);
642 642
643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] 643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
644 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); 644 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
645 645
646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] 646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
647 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); 647 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
648 648
649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] 649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
650 public static extern void BodySetQuaternion(IntPtr body, ref dReal w); 650 public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
651 651
652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] 652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
653 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); 653 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
654 654
655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] 655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
656 public static extern void BodySetRotation(IntPtr body, ref dReal M00); 656 public static extern void BodySetRotation(IntPtr body, ref dReal M00);
657 657
658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] 658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
659 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); 659 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
660 660
661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] 661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
662 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 662 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
663 663
664 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] 664 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
665 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 665 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
666 666
667 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] 667 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
668 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, 668 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
669 ref Vector3 side1, ref Vector3 p2, 669 ref Vector3 side1, ref Vector3 p2,
670 ref Matrix3 R2, ref Vector3 side2, 670 ref Matrix3 R2, ref Vector3 side2,
671 ref Vector3 normal, out dReal depth, out int return_code, 671 ref Vector3 normal, out dReal depth, out int return_code,
672 int maxc, out ContactGeom contact, int skip); 672 int maxc, out ContactGeom contact, int skip);
673 673
674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] 674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
675 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, 675 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
676 ref Vector3 side1, ref Vector3 _p2, 676 ref Vector3 side1, ref Vector3 _p2,
677 ref Matrix3 R2, ref Vector3 side2); 677 ref Matrix3 R2, ref Vector3 side2);
678 678
679 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] 679 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
680 public static extern void CleanupODEAllDataForThread(); 680 public static extern void CleanupODEAllDataForThread();
681 681
682 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] 682 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
683 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, 683 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
684 ref Vector3 b1, ref Vector3 b2, 684 ref Vector3 b1, ref Vector3 b2,
685 ref Vector3 cp1, ref Vector3 cp2); 685 ref Vector3 cp1, ref Vector3 cp2);
686 686
687 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] 687 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
688 public static extern void CloseODE(); 688 public static extern void CloseODE();
689 689
690 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] 690 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
691 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); 691 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] 692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
693 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip); 693 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
694 694
695 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] 695 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
696 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); 696 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
697 697
698 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] 698 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
699 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz); 699 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
700 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz) 700 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
701 { 701 {
702 NTotalGeoms++; 702 NTotalGeoms++;
703 return CreateiBox(space, lx, ly, lz); 703 return CreateiBox(space, lx, ly, lz);
704 } 704 }
705 705
706 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] 706 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
707 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length); 707 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
708 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length) 708 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
709 { 709 {
@@ -711,23 +711,23 @@ namespace OpenSim.Region.PhysicsModule.ODE
711 return CreateiCapsule(space, radius, length); 711 return CreateiCapsule(space, radius, length);
712 } 712 }
713 713
714 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] 714 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
715 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); 715 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
716 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons) 716 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
717 { 717 {
718 NTotalGeoms++; 718 NTotalGeoms++;
719 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons); 719 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
720 } 720 }
721 721
722 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] 722 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
723 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length); 723 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
724 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length) 724 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
725 { 725 {
726 NTotalGeoms++; 726 NTotalGeoms++;
727 return CreateiCylinder(space, radius, length); 727 return CreateiCylinder(space, radius, length);
728 } 728 }
729 729
730 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] 730 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
731 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable); 731 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
732 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable) 732 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
733 { 733 {
@@ -745,23 +745,23 @@ namespace OpenSim.Region.PhysicsModule.ODE
745 745
746 746
747 747
748
749 748
750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] 749
751 public static extern IntPtr CreateiGeom(int classnum); 750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
751 public static extern IntPtr CreateiGeom(int classnum);
752 public static IntPtr CreateGeom(int classnum) 752 public static IntPtr CreateGeom(int classnum)
753 { 753 {
754 NTotalGeoms++; 754 NTotalGeoms++;
755 return CreateiGeom(classnum); 755 return CreateiGeom(classnum);
756 } 756 }
757 757
758 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] 758 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
759 public static extern int CreateGeomClass(ref GeomClass classptr); 759 public static extern int CreateGeomClass(ref GeomClass classptr);
760 760
761 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] 761 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
762 public static extern IntPtr CreateGeomTransform(IntPtr space); 762 public static extern IntPtr CreateGeomTransform(IntPtr space);
763 763
764 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] 764 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
765 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); 765 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
766 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d) 766 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
767 { 767 {
@@ -769,25 +769,25 @@ namespace OpenSim.Region.PhysicsModule.ODE
769 return CreateiPlane(space, a, b, c, d); 769 return CreateiPlane(space, a, b, c, d);
770 } 770 }
771 771
772 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] 772 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
773 public static extern IntPtr CreateiRay(IntPtr space, dReal length); 773 public static extern IntPtr CreateiRay(IntPtr space, dReal length);
774 public static IntPtr CreateRay(IntPtr space, dReal length) 774 public static IntPtr CreateRay(IntPtr space, dReal length)
775 { 775 {
776 NTotalGeoms++; 776 NTotalGeoms++;
777 return CreateiRay(space, length); 777 return CreateiRay(space, length);
778 } 778 }
779 779
780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] 780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
781 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius); 781 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
782 public static IntPtr CreateSphere(IntPtr space, dReal radius) 782 public static IntPtr CreateSphere(IntPtr space, dReal radius)
783 { 783 {
784 NTotalGeoms++; 784 NTotalGeoms++;
785 return CreateiSphere(space, radius); 785 return CreateiSphere(space, radius);
786 } 786 }
787 787
788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] 788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
789 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, 789 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
790 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); 790 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
791 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data, 791 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
792 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback) 792 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
793 { 793 {
@@ -795,79 +795,79 @@ namespace OpenSim.Region.PhysicsModule.ODE
795 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback); 795 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
796 } 796 }
797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] 797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
798 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); 798 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
799 799
800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] 800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
801 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); 801 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
802 802
803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] 803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
804 public static extern int FactorCholesky(ref dReal A00, int n); 804 public static extern int FactorCholesky(ref dReal A00, int n);
805 805
806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] 806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
807 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); 807 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
808 808
809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] 809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
810 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); 810 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
811 811
812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] 812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
813 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); 813 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
814 814
815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] 815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
816 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); 816 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
817 817
818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] 818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
819 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); 819 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
820 820
821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] 821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
822 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); 822 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
823 823
824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] 824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
825 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); 825 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
826 826
827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] 827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
828 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); 828 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
829 829
830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] 830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
831 public static extern void GeomClearOffset(IntPtr geom); 831 public static extern void GeomClearOffset(IntPtr geom);
832 832
833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] 833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
834 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); 834 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
835 835
836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] 836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
837 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); 837 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
838 838
839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] 839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
840 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); 840 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
841 841
842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] 842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
843 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); 843 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
844 844
845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] 845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
846 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); 846 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
847 847
848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] 848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
849 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); 849 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
850 850
851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] 851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
852 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); 852 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
853 853
854 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] 854 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
855 public static extern void GeomCopyPosition(IntPtr geom, out dReal X); 855 public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
856 856
857 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] 857 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
858 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); 858 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
859 859
860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] 860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
861 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); 861 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
862 862
863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] 863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
864 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); 864 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
865 865
866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] 866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
867 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); 867 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
868 868
869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] 869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
870 public static extern void GeomiDestroy(IntPtr geom); 870 public static extern void GeomiDestroy(IntPtr geom);
871 public static void GeomDestroy(IntPtr geom) 871 public static void GeomDestroy(IntPtr geom)
872 { 872 {
873 NTotalGeoms--; 873 NTotalGeoms--;
@@ -875,63 +875,63 @@ namespace OpenSim.Region.PhysicsModule.ODE
875 } 875 }
876 876
877 877
878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] 878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
879 public static extern void GeomDisable(IntPtr geom); 879 public static extern void GeomDisable(IntPtr geom);
880 880
881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] 881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
882 public static extern void GeomEnable(IntPtr geom); 882 public static extern void GeomEnable(IntPtr geom);
883 883
884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] 884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
885 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); 885 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
886 886
887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] 887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
888 public static extern void GeomGetAABB(IntPtr geom, out dReal minX); 888 public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
889 889
890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] 890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
891 public static extern IntPtr GeomGetBody(IntPtr geom); 891 public static extern IntPtr GeomGetBody(IntPtr geom);
892 892
893 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] 893 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
894 public static extern uint GeomGetCategoryBits(IntPtr geom); 894 public static extern uint GeomGetCategoryBits(IntPtr geom);
895 895
896 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] 896 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
897 public static extern IntPtr GeomGetClassData(IntPtr geom); 897 public static extern IntPtr GeomGetClassData(IntPtr geom);
898 898
899 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] 899 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
900 public static extern uint GeomGetCollideBits(IntPtr geom); 900 public static extern uint GeomGetCollideBits(IntPtr geom);
901 901
902 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] 902 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
903 public static extern GeomClassID GeomGetClass(IntPtr geom); 903 public static extern GeomClassID GeomGetClass(IntPtr geom);
904 904
905 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] 905 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
906 public static extern IntPtr GeomGetData(IntPtr geom); 906 public static extern IntPtr GeomGetData(IntPtr geom);
907 907
908 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] 908 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
909 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); 909 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
910 public static Vector3 GeomGetOffsetPosition(IntPtr geom) 910 public static Vector3 GeomGetOffsetPosition(IntPtr geom)
911 { 911 {
912 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } 912 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
913 } 913 }
914 914
915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] 915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
916 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); 916 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
917 public static Matrix3 GeomGetOffsetRotation(IntPtr geom) 917 public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
918 { 918 {
919 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } 919 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
920 } 920 }
921 921
922 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] 922 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
923 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); 923 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
924 public static Vector3 GeomGetPosition(IntPtr geom) 924 public static Vector3 GeomGetPosition(IntPtr geom)
925 { 925 {
926 unsafe { return *(GeomGetPositionUnsafe(geom)); } 926 unsafe { return *(GeomGetPositionUnsafe(geom)); }
927 } 927 }
928 public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom) 928 public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom)
929 { 929 {
930 Vector3 vtmp = GeomGetPosition(geom); 930 Vector3 vtmp = GeomGetPosition(geom);
931 return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z); 931 return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z);
932 } 932 }
933 933
934 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] 934 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
935 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); 935 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
936 public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom) 936 public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom)
937 { 937 {
@@ -940,85 +940,85 @@ namespace OpenSim.Region.PhysicsModule.ODE
940 return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W); 940 return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W);
941 } 941 }
942 942
943 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] 943 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
944 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); 944 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
945 945
946 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] 946 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
947 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); 947 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
948 public static Matrix3 GeomGetRotation(IntPtr geom) 948 public static Matrix3 GeomGetRotation(IntPtr geom)
949 { 949 {
950 unsafe { return *(GeomGetRotationUnsafe(geom)); } 950 unsafe { return *(GeomGetRotationUnsafe(geom)); }
951 } 951 }
952 952
953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] 953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
954 public static extern IntPtr GeomGetSpace(IntPtr geom); 954 public static extern IntPtr GeomGetSpace(IntPtr geom);
955 955
956 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] 956 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
957 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, 957 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
958 dReal width, dReal depth, int widthSamples, int depthSamples, 958 dReal width, dReal depth, int widthSamples, int depthSamples,
959 dReal scale, dReal offset, dReal thickness, int bWrap); 959 dReal scale, dReal offset, dReal thickness, int bWrap);
960 960
961 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] 961 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
962 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 962 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
963 dReal width, dReal depth, int widthSamples, int depthSamples, 963 dReal width, dReal depth, int widthSamples, int depthSamples,
964 dReal scale, dReal offset, dReal thickness, int bWrap); 964 dReal scale, dReal offset, dReal thickness, int bWrap);
965 965
966 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] 966 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
967 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, 967 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
968 dReal width, dReal depth, int widthSamples, int depthSamples, 968 dReal width, dReal depth, int widthSamples, int depthSamples,
969 dReal scale, dReal offset, dReal thickness, int bWrap); 969 dReal scale, dReal offset, dReal thickness, int bWrap);
970 970
971 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] 971 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
972 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, 972 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
973 dReal width, dReal depth, int widthSamples, int depthSamples, 973 dReal width, dReal depth, int widthSamples, int depthSamples,
974 dReal scale, dReal offset, dReal thickness, int bWrap); 974 dReal scale, dReal offset, dReal thickness, int bWrap);
975 975
976 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] 976 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
977 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, 977 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
978 dReal width, dReal depth, int widthSamples, int depthSamples, 978 dReal width, dReal depth, int widthSamples, int depthSamples,
979 dReal scale, dReal offset, dReal thickness, int bWrap); 979 dReal scale, dReal offset, dReal thickness, int bWrap);
980 980
981 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] 981 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
982 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 982 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
983 dReal width, dReal depth, int widthSamples, int depthSamples, 983 dReal width, dReal depth, int widthSamples, int depthSamples,
984 dReal scale, dReal offset, dReal thickness, int bWrap); 984 dReal scale, dReal offset, dReal thickness, int bWrap);
985 985
986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] 986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
987 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, 987 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
988 dReal width, dReal depth, int widthSamples, int depthSamples, 988 dReal width, dReal depth, int widthSamples, int depthSamples,
989 dReal scale, dReal offset, dReal thickness, int bWrap); 989 dReal scale, dReal offset, dReal thickness, int bWrap);
990 990
991 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] 991 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
992 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 992 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
993 dReal width, dReal depth, int widthSamples, int depthSamples, 993 dReal width, dReal depth, int widthSamples, int depthSamples,
994 dReal scale, dReal offset, dReal thickness, int bWrap); 994 dReal scale, dReal offset, dReal thickness, int bWrap);
995 995
996 996
997 997
998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] 998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
999 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, 999 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
1000 dReal width, dReal depth, int widthSamples, int depthSamples, 1000 dReal width, dReal depth, int widthSamples, int depthSamples,
1001 dReal scale, dReal offset, dReal thickness, int bWrap); 1001 dReal scale, dReal offset, dReal thickness, int bWrap);
1002 1002
1003 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] 1003 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1004 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 1004 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
1005 dReal width, dReal depth, int widthSamples, int depthSamples, 1005 dReal width, dReal depth, int widthSamples, int depthSamples,
1006 dReal scale, dReal offset, dReal thickness, int bWrap); 1006 dReal scale, dReal offset, dReal thickness, int bWrap);
1007 1007
1008 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] 1008 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
1009 public static extern IntPtr GeomHeightfieldDataCreate(); 1009 public static extern IntPtr GeomHeightfieldDataCreate();
1010 1010
1011 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] 1011 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
1012 public static extern void GeomHeightfieldDataDestroy(IntPtr d); 1012 public static extern void GeomHeightfieldDataDestroy(IntPtr d);
1013 1013
1014 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] 1014 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
1015 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); 1015 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1016 1016
1017 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] 1017 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1018 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); 1018 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
1019 1019
1020 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] 1020 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1021 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); 1021 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
1022 1022
1023 1023
1024 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity] 1024 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
@@ -1047,279 +1047,279 @@ namespace OpenSim.Region.PhysicsModule.ODE
1047 public static extern void GeomOSTerrainSetHeightfieldData(IntPtr g, IntPtr d); 1047 public static extern void GeomOSTerrainSetHeightfieldData(IntPtr g, IntPtr d);
1048 1048
1049 1049
1050 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] 1050 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
1051 public static extern bool GeomIsEnabled(IntPtr geom); 1051 public static extern bool GeomIsEnabled(IntPtr geom);
1052 1052
1053 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] 1053 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
1054 public static extern bool GeomIsOffset(IntPtr geom); 1054 public static extern bool GeomIsOffset(IntPtr geom);
1055 1055
1056 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] 1056 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
1057 public static extern bool GeomIsSpace(IntPtr geom); 1057 public static extern bool GeomIsSpace(IntPtr geom);
1058 1058
1059 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] 1059 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1060 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); 1060 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
1061 1061
1062 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] 1062 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1063 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); 1063 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
1064 1064
1065 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] 1065 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
1066 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); 1066 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1067 1067
1068 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] 1068 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
1069 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); 1069 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
1070 1070
1071 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] 1071 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1072 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); 1072 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
1073 1073
1074 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] 1074 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1075 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); 1075 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
1076 1076
1077 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] 1077 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
1078 public static extern int GeomRayGetClosestHit(IntPtr ray); 1078 public static extern int GeomRayGetClosestHit(IntPtr ray);
1079 1079
1080 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] 1080 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
1081 public static extern dReal GeomRayGetLength(IntPtr ray); 1081 public static extern dReal GeomRayGetLength(IntPtr ray);
1082 1082
1083 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] 1083 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
1084 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); 1084 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
1085 1085
1086 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] 1086 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
1087 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); 1087 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
1088 1088
1089 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] 1089 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
1090 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); 1090 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
1091 1091
1092 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] 1092 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
1093 public static extern void GeomRaySetLength(IntPtr ray, dReal length); 1093 public static extern void GeomRaySetLength(IntPtr ray, dReal length);
1094 1094
1095 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] 1095 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
1096 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); 1096 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
1097 1097
1098 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] 1098 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
1099 public static extern void GeomSetBody(IntPtr geom, IntPtr body); 1099 public static extern void GeomSetBody(IntPtr geom, IntPtr body);
1100 1100
1101 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] 1101 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
1102 public static extern void GeomSetCategoryBits(IntPtr geom, uint bits); 1102 public static extern void GeomSetCategoryBits(IntPtr geom, uint bits);
1103 1103
1104 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] 1104 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
1105 public static extern void GeomSetCollideBits(IntPtr geom, uint bits); 1105 public static extern void GeomSetCollideBits(IntPtr geom, uint bits);
1106 1106
1107 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] 1107 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
1108 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); 1108 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
1109 1109
1110 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] 1110 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
1111 public static extern void GeomSetData(IntPtr geom, IntPtr data); 1111 public static extern void GeomSetData(IntPtr geom, IntPtr data);
1112 1112
1113 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] 1113 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
1114 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); 1114 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1115
1116 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1117 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1118
1119 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1120 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1121
1122 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1123 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1124
1125 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1126 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1127 1115
1128 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] 1116 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1129 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); 1117 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1130 1118
1131 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] 1119 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1132 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); 1120 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1133 1121
1134 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] 1122 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1135 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); 1123 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1136 1124
1137 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] 1125 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1138 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); 1126 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1139 1127
1140 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] 1128 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
1141 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); 1129 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
1142 1130
1143 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] 1131 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1144 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); 1132 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
1145 1133
1146 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] 1134 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1147 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); 1135 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
1148 1136
1149 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] 1137 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1150 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); 1138 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
1151 1139
1152 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] 1140 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1153 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); 1141 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
1154 1142
1155 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] 1143 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
1156 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); 1144 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1157 1145
1158 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] 1146 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1159 public static extern dReal GeomSphereGetRadius(IntPtr geom); 1147 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
1160 1148
1161 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] 1149 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1162 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); 1150 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
1163 1151
1164 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] 1152 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1165 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); 1153 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
1166 1154
1167 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] 1155 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1168 public static extern int GeomTransformGetCleanup(IntPtr geom); 1156 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
1169 1157
1170 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] 1158 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
1171 public static extern IntPtr GeomTransformGetGeom(IntPtr geom); 1159 public static extern dReal GeomSphereGetRadius(IntPtr geom);
1172 1160
1173 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] 1161 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
1174 public static extern int GeomTransformGetInfo(IntPtr geom); 1162 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1175 1163
1176 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] 1164 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
1177 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); 1165 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
1178 1166
1179 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] 1167 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
1180 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); 1168 public static extern int GeomTransformGetCleanup(IntPtr geom);
1181 1169
1182 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] 1170 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
1183 public static extern void GeomTransformSetInfo(IntPtr geom, int info); 1171 public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
1184 1172
1185 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] 1173 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
1186 public static extern void GeomTriMeshDataBuildDouble(IntPtr d, 1174 public static extern int GeomTransformGetInfo(IntPtr geom);
1187 double[] vertices, int vertexStride, int vertexCount,
1188 int[] indices, int indexCount, int triStride);
1189 1175
1190 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] 1176 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
1191 public static extern void GeomTriMeshDataBuildDouble(IntPtr d, 1177 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
1192 IntPtr vertices, int vertexStride, int vertexCount,
1193 IntPtr indices, int indexCount, int triStride);
1194 1178
1195 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] 1179 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
1196 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, 1180 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
1197 double[] vertices, int vertexStride, int vertexCount,
1198 int[] indices, int indexCount, int triStride,
1199 double[] normals);
1200 1181
1201 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] 1182 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
1202 public static extern void GeomTriMeshDataBuildDouble(IntPtr d, 1183 public static extern void GeomTransformSetInfo(IntPtr geom, int info);
1203 IntPtr vertices, int vertexStride, int vertexCount,
1204 IntPtr indices, int indexCount, int triStride,
1205 IntPtr normals);
1206 1184
1207 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] 1185 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1208 public static extern void GeomTriMeshDataBuildSingle(IntPtr d, 1186 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1209 dReal[] vertices, int vertexStride, int vertexCount, 1187 double[] vertices, int vertexStride, int vertexCount,
1210 int[] indices, int indexCount, int triStride); 1188 int[] indices, int indexCount, int triStride);
1211 1189
1212 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] 1190 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1213 public static extern void GeomTriMeshDataBuildSingle(IntPtr d, 1191 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1214 IntPtr vertices, int vertexStride, int vertexCount, 1192 IntPtr vertices, int vertexStride, int vertexCount,
1215 IntPtr indices, int indexCount, int triStride); 1193 IntPtr indices, int indexCount, int triStride);
1216 1194
1217 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] 1195 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1218 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, 1196 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
1219 dReal[] vertices, int vertexStride, int vertexCount, 1197 double[] vertices, int vertexStride, int vertexCount,
1220 int[] indices, int indexCount, int triStride, 1198 int[] indices, int indexCount, int triStride,
1221 dReal[] normals); 1199 double[] normals);
1222 1200
1223 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] 1201 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1224 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, 1202 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1225 IntPtr vertices, int vertexStride, int vertexCount, 1203 IntPtr vertices, int vertexStride, int vertexCount,
1226 IntPtr indices, int indexCount, int triStride, 1204 IntPtr indices, int indexCount, int triStride,
1227 IntPtr normals); 1205 IntPtr normals);
1228 1206
1229 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] 1207 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1230 public static extern void GeomTriMeshDataBuildSimple(IntPtr d, 1208 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1231 float[] vertices, int vertexStride, int vertexCount, 1209 dReal[] vertices, int vertexStride, int vertexCount,
1232 int[] indices, int indexCount, int triStride); 1210 int[] indices, int indexCount, int triStride);
1233 1211
1234 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] 1212 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1235 public static extern void GeomTriMeshDataBuildSimple(IntPtr d, 1213 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1236 IntPtr vertices, int vertexStride, int vertexCount, 1214 IntPtr vertices, int vertexStride, int vertexCount,
1237 IntPtr indices, int indexCount, int triStride); 1215 IntPtr indices, int indexCount, int triStride);
1238 1216
1239 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] 1217 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1240 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, 1218 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1241 float[] vertices, int vertexStride, int vertexCount, 1219 dReal[] vertices, int vertexStride, int vertexCount,
1242 int[] indices, int indexCount, int triStride, 1220 int[] indices, int indexCount, int triStride,
1243 float[] normals); 1221 dReal[] normals);
1244 1222
1245 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] 1223 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1246 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, 1224 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1247 IntPtr vertices, int vertexStride, int vertexCount, 1225 IntPtr vertices, int vertexStride, int vertexCount,
1248 IntPtr indices, int indexCount, int triStride, 1226 IntPtr indices, int indexCount, int triStride,
1249 IntPtr normals); 1227 IntPtr normals);
1250 1228
1251 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] 1229 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1252 public static extern void GeomTriMeshClearTCCache(IntPtr g); 1230 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1231 float[] vertices, int vertexStride, int vertexCount,
1232 int[] indices, int indexCount, int triStride);
1253 1233
1254 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] 1234 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1255 public static extern IntPtr GeomTriMeshDataCreate(); 1235 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1236 IntPtr vertices, int vertexStride, int vertexCount,
1237 IntPtr indices, int indexCount, int triStride);
1256 1238
1257 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] 1239 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1258 public static extern void GeomTriMeshDataDestroy(IntPtr d); 1240 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1241 float[] vertices, int vertexStride, int vertexCount,
1242 int[] indices, int indexCount, int triStride,
1243 float[] normals);
1259 1244
1260 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] 1245 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1261 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); 1246 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1247 IntPtr vertices, int vertexStride, int vertexCount,
1248 IntPtr indices, int indexCount, int triStride,
1249 IntPtr normals);
1262 1250
1263 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] 1251 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1264 public static extern void GeomTriMeshDataPreprocess(IntPtr d); 1252 public static extern void GeomTriMeshClearTCCache(IntPtr g);
1265 1253
1266 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] 1254 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1267 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); 1255 public static extern IntPtr GeomTriMeshDataCreate();
1268 1256
1269 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] 1257 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1270 public static extern void GeomTriMeshDataUpdate(IntPtr d); 1258 public static extern void GeomTriMeshDataDestroy(IntPtr d);
1271 1259
1272 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] 1260 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1273 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); 1261 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1274 1262
1275 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] 1263 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1276 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); 1264 public static extern void GeomTriMeshDataPreprocess(IntPtr d);
1277 1265
1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] 1266 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1279 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); 1267 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1280 1268
1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] 1269 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1282 public static extern IntPtr GeomTriMeshGetData(IntPtr g); 1270 public static extern void GeomTriMeshDataUpdate(IntPtr d);
1283 1271
1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] 1272 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1285 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); 1273 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1286 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) 1274
1287 { 1275 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1288 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } 1276 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1289 } 1277
1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1279 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1280
1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1282 public static extern IntPtr GeomTriMeshGetData(IntPtr g);
1283
1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1285 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1286 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1287 {
1288 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1289 }
1290 1290
1291 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] 1291 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1292 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); 1292 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1293 1293
1294 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] 1294 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1295 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); 1295 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1296 1296
1297 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] 1297 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1298 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); 1298 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1299 1299
1300 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] 1300 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1301 public extern static int GeomTriMeshGetTriangleCount(IntPtr g); 1301 public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1302 1302
1303 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] 1303 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1304 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); 1304 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1305 1305
1306 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] 1306 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1307 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); 1307 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1308 1308
1309 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] 1309 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1310 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); 1310 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1311 1311
1312 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] 1312 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1313 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); 1313 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1314 1314
1315 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] 1315 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1316 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); 1316 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1317 1317
1318 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] 1318 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1319 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); 1319 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1320 1320
1321 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] 1321 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1322 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); 1322 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1323 1323
1324 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] 1324 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1325 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); 1325 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
@@ -1334,416 +1334,416 @@ namespace OpenSim.Region.PhysicsModule.ODE
1334 return s; 1334 return s;
1335 } 1335 }
1336 1336
1337 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] 1337 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1338 public static extern IntPtr HashSpaceCreate(IntPtr space); 1338 public static extern IntPtr HashSpaceCreate(IntPtr space);
1339 1339
1340 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] 1340 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1341 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); 1341 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1342 1342
1343 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] 1343 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1344 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); 1344 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1345 1345
1346 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] 1346 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1347 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); 1347 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1348 1348
1349 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] 1349 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1350 public static extern void InitODE(); 1350 public static extern void InitODE();
1351 1351
1352 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] 1352 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
1353 public static extern int InitODE2(uint ODEInitFlags); 1353 public static extern int InitODE2(uint ODEInitFlags);
1354 1354
1355 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] 1355 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1356 public static extern int IsPositiveDefinite(ref dReal A, int n); 1356 public static extern int IsPositiveDefinite(ref dReal A, int n);
1357 1357
1358 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] 1358 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1359 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); 1359 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1360 1360
1361 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] 1361 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1362 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); 1362 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1363 1363
1364 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] 1364 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1365 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); 1365 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1366 1366
1367 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] 1367 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1368 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); 1368 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1369 1369
1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] 1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1371 public static extern void JointAddPRTorque(IntPtr joint, dReal torque); 1371 public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1372 1372
1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] 1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1374 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); 1374 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1375 1375
1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] 1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1377 public static extern void JointAddSliderForce(IntPtr joint, dReal force); 1377 public static extern void JointAddSliderForce(IntPtr joint, dReal force);
1378 1378
1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] 1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1380 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); 1380 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1381 1381
1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] 1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1383 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); 1383 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1384 1384
1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] 1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1386 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); 1386 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1387 1387
1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] 1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1389 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); 1389 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1390 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] 1390 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1391 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact); 1391 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
1392 1392
1393 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] 1393 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1394 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); 1394 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1395 1395
1396 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] 1396 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1397 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); 1397 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1398 1398
1399 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] 1399 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1400 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); 1400 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1401 1401
1402 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] 1402 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1403 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); 1403 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1404 1404
1405 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] 1405 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1406 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); 1406 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1407 1407
1408 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] 1408 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1409 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); 1409 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1410 1410
1411 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] 1411 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1412 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); 1412 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1413 1413
1414 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] 1414 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1415 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); 1415 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1416 1416
1417 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] 1417 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1418 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); 1418 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1419 1419
1420 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] 1420 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1421 public static extern void JointDestroy(IntPtr j); 1421 public static extern void JointDestroy(IntPtr j);
1422 1422
1423 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] 1423 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1424 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); 1424 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1425 1425
1426 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] 1426 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1427 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); 1427 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1428 1428
1429 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] 1429 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1430 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); 1430 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1431 1431
1432 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] 1432 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1433 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); 1433 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1434 1434
1435 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] 1435 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1436 public static extern int JointGetAMotorMode(IntPtr j); 1436 public static extern int JointGetAMotorMode(IntPtr j);
1437 1437
1438 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1438 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1439 public static extern int JointGetAMotorNumAxes(IntPtr j); 1439 public static extern int JointGetAMotorNumAxes(IntPtr j);
1440 1440
1441 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] 1441 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1442 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); 1442 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1443 1443
1444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] 1444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1445 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); 1445 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1446 1446
1447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] 1447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1448 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); 1448 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1449 1449
1450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] 1450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1451 public static extern IntPtr JointGetBody(IntPtr j); 1451 public static extern IntPtr JointGetBody(IntPtr j);
1452 1452
1453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] 1453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1454 public static extern IntPtr JointGetData(IntPtr j); 1454 public static extern IntPtr JointGetData(IntPtr j);
1455 1455
1456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] 1456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1457 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); 1457 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1458 public static JointFeedback JointGetFeedback(IntPtr j) 1458 public static JointFeedback JointGetFeedback(IntPtr j)
1459 { 1459 {
1460 unsafe { return *(JointGetFeedbackUnsafe(j)); } 1460 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1461 } 1461 }
1462 1462
1463 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] 1463 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1464 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); 1464 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1465 1465
1466 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] 1466 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1467 public static extern dReal JointGetHingeAngle(IntPtr j); 1467 public static extern dReal JointGetHingeAngle(IntPtr j);
1468 1468
1469 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] 1469 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1470 public static extern dReal JointGetHingeAngleRate(IntPtr j); 1470 public static extern dReal JointGetHingeAngleRate(IntPtr j);
1471 1471
1472 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] 1472 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1473 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); 1473 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1474 1474
1475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] 1475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1476 public static extern dReal JointGetHingeParam(IntPtr j, int parameter); 1476 public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1477 1477
1478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] 1478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1479 public static extern dReal JointGetHinge2Angle1(IntPtr j); 1479 public static extern dReal JointGetHinge2Angle1(IntPtr j);
1480 1480
1481 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] 1481 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1482 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); 1482 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1483 1483
1484 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] 1484 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1485 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); 1485 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1486 1486
1487 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] 1487 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1488 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); 1488 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1489 1489
1490 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] 1490 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1491 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); 1491 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1492 1492
1493 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] 1493 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1494 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); 1494 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1495 1495
1496 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] 1496 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1497 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); 1497 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1498 1498
1499 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] 1499 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1500 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); 1500 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1501 1501
1502 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] 1502 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1503 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); 1503 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1504 1504
1505 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] 1505 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1506 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); 1506 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1507 1507
1508 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1508 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1509 public static extern int JointGetLMotorNumAxes(IntPtr j); 1509 public static extern int JointGetLMotorNumAxes(IntPtr j);
1510 1510
1511 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] 1511 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1512 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); 1512 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1513 1513
1514 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] 1514 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1515 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); 1515 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1516 1516
1517 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] 1517 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1518 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); 1518 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1519 1519
1520 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] 1520 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1521 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); 1521 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1522 1522
1523 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] 1523 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1524 public static extern dReal JointGetPRParam(IntPtr j, int parameter); 1524 public static extern dReal JointGetPRParam(IntPtr j, int parameter);
1525 1525
1526 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] 1526 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1527 public static extern dReal JointGetPRPosition(IntPtr j); 1527 public static extern dReal JointGetPRPosition(IntPtr j);
1528 1528
1529 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] 1529 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1530 public static extern dReal JointGetPRPositionRate(IntPtr j); 1530 public static extern dReal JointGetPRPositionRate(IntPtr j);
1531 1531
1532 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] 1532 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1533 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); 1533 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1534 1534
1535 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] 1535 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1536 public static extern dReal JointGetSliderParam(IntPtr j, int parameter); 1536 public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1537 1537
1538 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] 1538 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1539 public static extern dReal JointGetSliderPosition(IntPtr j); 1539 public static extern dReal JointGetSliderPosition(IntPtr j);
1540 1540
1541 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] 1541 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1542 public static extern dReal JointGetSliderPositionRate(IntPtr j); 1542 public static extern dReal JointGetSliderPositionRate(IntPtr j);
1543 1543
1544 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] 1544 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1545 public static extern JointType JointGetType(IntPtr j); 1545 public static extern JointType JointGetType(IntPtr j);
1546 1546
1547 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] 1547 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1548 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); 1548 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1549 1549
1550 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] 1550 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1551 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); 1551 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1552 1552
1553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] 1553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1554 public static extern dReal JointGetUniversalAngle1(IntPtr j); 1554 public static extern dReal JointGetUniversalAngle1(IntPtr j);
1555 1555
1556 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] 1556 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1557 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); 1557 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1558 1558
1559 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] 1559 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1560 public static extern dReal JointGetUniversalAngle2(IntPtr j); 1560 public static extern dReal JointGetUniversalAngle2(IntPtr j);
1561 1561
1562 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] 1562 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1563 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); 1563 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1564 1564
1565 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] 1565 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1566 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); 1566 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1567 1567
1568 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] 1568 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1569 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); 1569 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1570 1570
1571 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] 1571 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1572 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); 1572 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1573 1573
1574 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] 1574 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1575 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); 1575 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1576 1576
1577 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] 1577 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1578 public static extern IntPtr JointGroupCreate(int max_size); 1578 public static extern IntPtr JointGroupCreate(int max_size);
1579 1579
1580 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] 1580 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1581 public static extern void JointGroupDestroy(IntPtr group); 1581 public static extern void JointGroupDestroy(IntPtr group);
1582 1582
1583 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] 1583 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1584 public static extern void JointGroupEmpty(IntPtr group); 1584 public static extern void JointGroupEmpty(IntPtr group);
1585 1585
1586 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] 1586 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1587 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); 1587 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1588 1588
1589 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] 1589 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1590 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); 1590 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1591 1591
1592 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] 1592 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1593 public static extern void JointSetAMotorMode(IntPtr j, int mode); 1593 public static extern void JointSetAMotorMode(IntPtr j, int mode);
1594 1594
1595 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1595 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1596 public static extern void JointSetAMotorNumAxes(IntPtr group, int num); 1596 public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1597 1597
1598 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] 1598 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1599 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); 1599 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1600 1600
1601 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] 1601 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1602 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); 1602 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1603 1603
1604 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] 1604 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1605 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); 1605 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1606 1606
1607 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] 1607 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1608 public static extern void JointSetData(IntPtr j, IntPtr data); 1608 public static extern void JointSetData(IntPtr j, IntPtr data);
1609 1609
1610 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] 1610 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1611 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); 1611 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1612 1612
1613 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] 1613 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1614 public static extern void JointSetFixed(IntPtr j); 1614 public static extern void JointSetFixed(IntPtr j);
1615 1615
1616 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] 1616 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1617 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); 1617 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1618 1618
1619 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] 1619 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1620 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); 1620 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1621 1621
1622 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] 1622 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1623 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); 1623 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1624 1624
1625 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] 1625 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1626 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); 1626 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1627 1627
1628 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] 1628 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1629 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); 1629 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1630 1630
1631 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] 1631 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1632 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); 1632 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1633 1633
1634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] 1634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1635 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); 1635 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1636 1636
1637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] 1637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1638 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); 1638 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1639 1639
1640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] 1640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1641 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); 1641 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1642 1642
1643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1644 public static extern void JointSetLMotorNumAxes(IntPtr j, int num); 1644 public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1645 1645
1646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] 1646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1647 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); 1647 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1648 1648
1649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] 1649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1650 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); 1650 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1651 1651
1652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] 1652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1653 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); 1653 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1654 1654
1655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] 1655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1656 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); 1656 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1657 1657
1658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] 1658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1659 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); 1659 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1660 1660
1661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] 1661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1662 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); 1662 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1663 1663
1664 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] 1664 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1665 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); 1665 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1666 1666
1667 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] 1667 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1668 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); 1668 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1669 1669
1670 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] 1670 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1671 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); 1671 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1672 1672
1673 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] 1673 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1674 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); 1674 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1675 1675
1676 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] 1676 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1677 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); 1677 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1678 1678
1679 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] 1679 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1680 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); 1680 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1681 1681
1682 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] 1682 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1683 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); 1683 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1684 1684
1685 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] 1685 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1686 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); 1686 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1687 1687
1688 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] 1688 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1689 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); 1689 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1690 1690
1691 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] 1691 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1692 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); 1692 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1693 1693
1694 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] 1694 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1695 public static extern void MassAdd(ref Mass a, ref Mass b); 1695 public static extern void MassAdd(ref Mass a, ref Mass b);
1696 1696
1697 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] 1697 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1698 public static extern void MassAdjust(ref Mass m, dReal newmass); 1698 public static extern void MassAdjust(ref Mass m, dReal newmass);
1699 1699
1700 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] 1700 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1701 public static extern bool MassCheck(ref Mass m); 1701 public static extern bool MassCheck(ref Mass m);
1702 1702
1703 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] 1703 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1704 public static extern void MassRotate(ref Mass mass, ref Matrix3 R); 1704 public static extern void MassRotate(ref Mass mass, ref Matrix3 R);
1705 1705
1706 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] 1706 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1707 public static extern void MassRotate(ref Mass mass, ref dReal M00); 1707 public static extern void MassRotate(ref Mass mass, ref dReal M00);
1708 1708
1709 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] 1709 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1710 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); 1710 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1711 1711
1712 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] 1712 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1713 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); 1713 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1714 1714
1715 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] 1715 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1716 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); 1716 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1717 1717
1718 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] 1718 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1719 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); 1719 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1720 1720
1721 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] 1721 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1722 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); 1722 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1723 1723
1724 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] 1724 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1725 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); 1725 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1726 1726
1727 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] 1727 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1728 public static extern void MassSetParameters(out Mass mass, dReal themass, 1728 public static extern void MassSetParameters(out Mass mass, dReal themass,
1729 dReal cgx, dReal cgy, dReal cgz, 1729 dReal cgx, dReal cgy, dReal cgz,
1730 dReal i11, dReal i22, dReal i33, 1730 dReal i11, dReal i22, dReal i33,
1731 dReal i12, dReal i13, dReal i23); 1731 dReal i12, dReal i13, dReal i23);
1732 1732
1733 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] 1733 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1734 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); 1734 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1735 1735
1736 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] 1736 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1737 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); 1737 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1738 1738
1739 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] 1739 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1740 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); 1740 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1741 1741
1742 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] 1742 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1743 public static extern void MassSetZero(out Mass mass); 1743 public static extern void MassSetZero(out Mass mass);
1744 1744
1745 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] 1745 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1746 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); 1746 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
1747 1747
1748 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] 1748 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1749 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); 1749 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
@@ -1755,119 +1755,119 @@ namespace OpenSim.Region.PhysicsModule.ODE
1755 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1); 1755 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
1756 } 1756 }
1757 1757
1758 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] 1758 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1759 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); 1759 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1760 1760
1761 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] 1761 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1762 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); 1762 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1763 1763
1764 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] 1764 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1765 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); 1765 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1766 1766
1767 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] 1767 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1768 public static extern void QfromR(out Quaternion q, ref Matrix3 R); 1768 public static extern void QfromR(out Quaternion q, ref Matrix3 R);
1769 1769
1770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] 1770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1771 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1771 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1772 1772
1773 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] 1773 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1774 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1774 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1775 1775
1776 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] 1776 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1777 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1777 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1778 1778
1779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] 1779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1780 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1780 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1781 1781
1782 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] 1782 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1783 public static extern void QSetIdentity(out Quaternion q); 1783 public static extern void QSetIdentity(out Quaternion q);
1784 1784
1785 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] 1785 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1786 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); 1786 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1787 1787
1788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] 1788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1789 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); 1789 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1790 1790
1791 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] 1791 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1792 public static extern dReal RandReal(); 1792 public static extern dReal RandReal();
1793 1793
1794 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] 1794 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1795 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); 1795 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1796 1796
1797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] 1797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1798 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); 1798 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1799 1799
1800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] 1800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1801 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); 1801 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1802 1802
1803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] 1803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1804 public static extern void RfromQ(out Matrix3 R, ref Quaternion q); 1804 public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1805 1805
1806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] 1806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1807 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); 1807 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1808 1808
1809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] 1809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1810 public static extern void RSetIdentity(out Matrix3 R); 1810 public static extern void RSetIdentity(out Matrix3 R);
1811 1811
1812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] 1812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1813 public static extern void SetValue(out dReal a, int n); 1813 public static extern void SetValue(out dReal a, int n);
1814 1814
1815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] 1815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1816 public static extern void SetZero(out dReal a, int n); 1816 public static extern void SetZero(out dReal a, int n);
1817 1817
1818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] 1818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1819 public static extern IntPtr SimpleSpaceCreate(IntPtr space); 1819 public static extern IntPtr SimpleSpaceCreate(IntPtr space);
1820 1820
1821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] 1821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1822 public static extern void SolveCholesky(ref dReal L, out dReal b, int n); 1822 public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1823 1823
1824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] 1824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1825 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); 1825 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1826 1826
1827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] 1827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1828 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); 1828 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1829 1829
1830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] 1830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1831 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); 1831 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1832 1832
1833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] 1833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1834 public static extern void SpaceAdd(IntPtr space, IntPtr geom); 1834 public static extern void SpaceAdd(IntPtr space, IntPtr geom);
1835 1835
1836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] 1836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
1837 public static extern bool SpaceLockQuery(IntPtr space); 1837 public static extern bool SpaceLockQuery(IntPtr space);
1838 1838
1839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] 1839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1840 public static extern void SpaceClean(IntPtr space); 1840 public static extern void SpaceClean(IntPtr space);
1841 1841
1842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] 1842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1843 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); 1843 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1844 1844
1845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] 1845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1846 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); 1846 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1847 1847
1848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] 1848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1849 public static extern void SpaceDestroy(IntPtr space); 1849 public static extern void SpaceDestroy(IntPtr space);
1850 1850
1851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] 1851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1852 public static extern bool SpaceGetCleanup(IntPtr space); 1852 public static extern bool SpaceGetCleanup(IntPtr space);
1853 1853
1854 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] 1854 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1855 public static extern int SpaceGetNumGeoms(IntPtr space); 1855 public static extern int SpaceGetNumGeoms(IntPtr space);
1856 1856
1857 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] 1857 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1858 public static extern IntPtr SpaceGetGeom(IntPtr space, int i); 1858 public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1859 1859
1860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] 1860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
1861 public static extern int SpaceGetSublevel(IntPtr space); 1861 public static extern int SpaceGetSublevel(IntPtr space);
1862 1862
1863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] 1863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1864 public static extern bool SpaceQuery(IntPtr space, IntPtr geom); 1864 public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1865 1865
1866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] 1866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1867 public static extern void SpaceRemove(IntPtr space, IntPtr geom); 1867 public static extern void SpaceRemove(IntPtr space, IntPtr geom);
1868 1868
1869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] 1869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1870 public static extern void SpaceSetCleanup(IntPtr space, bool mode); 1870 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
1871 1871
1872 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] 1872 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
1873 public static extern void SpaceSetSublevel(IntPtr space, int sublevel); 1873 public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
@@ -1875,53 +1875,53 @@ namespace OpenSim.Region.PhysicsModule.ODE
1875 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] 1875 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
1876 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); 1876 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
1877 1877
1878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] 1878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1879 public static extern void VectorScale(out dReal a, ref dReal d, int n); 1879 public static extern void VectorScale(out dReal a, ref dReal d, int n);
1880 1880
1881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] 1881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1882 public static extern IntPtr WorldCreate(); 1882 public static extern IntPtr WorldCreate();
1883 1883
1884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] 1884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1885 public static extern void WorldDestroy(IntPtr world); 1885 public static extern void WorldDestroy(IntPtr world);
1886 1886
1887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] 1887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1888 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); 1888 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
1889 1889
1890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 1890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1891 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); 1891 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1892 1892
1893 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 1893 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1894 public static extern bool WorldGetAutoDisableFlag(IntPtr world); 1894 public static extern bool WorldGetAutoDisableFlag(IntPtr world);
1895 1895
1896 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 1896 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1897 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); 1897 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1898 1898
1899 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 1899 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1900 public static extern int WorldGetAutoDisableSteps(IntPtr world); 1900 public static extern int WorldGetAutoDisableSteps(IntPtr world);
1901 1901
1902 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 1902 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1903 public static extern dReal WorldGetAutoDisableTime(IntPtr world); 1903 public static extern dReal WorldGetAutoDisableTime(IntPtr world);
1904 1904
1905 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] 1905 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1906 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); 1906 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1907 1907
1908 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] 1908 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1909 public static extern dReal WorldGetCFM(IntPtr world); 1909 public static extern dReal WorldGetCFM(IntPtr world);
1910 1910
1911 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] 1911 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1912 public static extern dReal WorldGetERP(IntPtr world); 1912 public static extern dReal WorldGetERP(IntPtr world);
1913 1913
1914 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] 1914 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1915 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); 1915 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1916 1916
1917 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] 1917 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1918 public static extern void WorldGetGravity(IntPtr world, out dReal X); 1918 public static extern void WorldGetGravity(IntPtr world, out dReal X);
1919 1919
1920 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] 1920 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1921 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); 1921 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1922 1922
1923 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] 1923 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1924 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); 1924 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1925 1925
1926 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] 1926 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
1927 public static extern dReal WorldGetAngularDamping(IntPtr world); 1927 public static extern dReal WorldGetAngularDamping(IntPtr world);
@@ -1935,23 +1935,23 @@ namespace OpenSim.Region.PhysicsModule.ODE
1935 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] 1935 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1936 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); 1936 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
1937 1937
1938 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] 1938 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1939 public static extern int WorldGetQuickStepNumIterations(IntPtr world); 1939 public static extern int WorldGetQuickStepNumIterations(IntPtr world);
1940 1940
1941 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] 1941 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1942 public static extern dReal WorldGetQuickStepW(IntPtr world); 1942 public static extern dReal WorldGetQuickStepW(IntPtr world);
1943 1943
1944 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] 1944 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1945 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); 1945 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
1946 1946
1947 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] 1947 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1948 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); 1948 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1949 1949
1950 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] 1950 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1951 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); 1951 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1952 1952
1953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] 1953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1954 public static extern void WorldQuickStep(IntPtr world, dReal stepsize); 1954 public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1955 1955
1956 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] 1956 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
1957 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); 1957 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
@@ -1959,67 +1959,67 @@ namespace OpenSim.Region.PhysicsModule.ODE
1959 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] 1959 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1960 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); 1960 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
1961 1961
1962 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 1962 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1963 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); 1963 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1964 1964
1965 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] 1965 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1966 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); 1966 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
1967 1967
1968 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 1968 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1969 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); 1969 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1970 1970
1971 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 1971 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1972 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); 1972 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1973 1973
1974 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 1974 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1975 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); 1975 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1976 1976
1977 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 1977 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1978 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); 1978 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1979 1979
1980 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] 1980 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1981 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); 1981 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1982 1982
1983 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] 1983 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1984 public static extern void WorldSetCFM(IntPtr world, dReal cfm); 1984 public static extern void WorldSetCFM(IntPtr world, dReal cfm);
1985 1985
1986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] 1986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1987 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); 1987 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1988 1988
1989 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] 1989 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1990 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); 1990 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1991 1991
1992 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] 1992 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
1993 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); 1993 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
1994 1994
1995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] 1995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1996 public static extern void WorldSetERP(IntPtr world, dReal erp); 1996 public static extern void WorldSetERP(IntPtr world, dReal erp);
1997
1998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1999 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1997 2000
1998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1999 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
2000
2001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] 2001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
2002 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); 2002 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
2003 2003
2004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] 2004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
2005 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); 2005 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
2006 2006
2007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] 2007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
2008 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); 2008 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
2009 2009
2010 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] 2010 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
2011 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); 2011 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
2012 2012
2013 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] 2013 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
2014 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); 2014 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
2015 2015
2016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] 2016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
2017 public static extern void WorldStep(IntPtr world, dReal stepsize); 2017 public static extern void WorldStep(IntPtr world, dReal stepsize);
2018 2018
2019 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] 2019 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
2020 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); 2020 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
2021 2021
2022 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] 2022 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
2023 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); 2023 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
2024 } 2024 }
2025} 2025}
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
index aaf90f2..98bfd1c 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
@@ -149,7 +149,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
149 /// Collision geometry 149 /// Collision geometry
150 /// </summary> 150 /// </summary>
151 internal IntPtr Shell { get; private set; } 151 internal IntPtr Shell { get; private set; }
152 152
153 private IntPtr Amotor = IntPtr.Zero; 153 private IntPtr Amotor = IntPtr.Zero;
154 private d.Mass ShellMass; 154 private d.Mass ShellMass;
155 155
@@ -237,7 +237,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
237 m_tainted_isPhysical = true; // new tainted status: need to create ODE information 237 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
238 238
239 _parent_scene.AddPhysicsActorTaint(this); 239 _parent_scene.AddPhysicsActorTaint(this);
240 240
241 Name = avName; 241 Name = avName;
242 } 242 }
243 243
@@ -461,7 +461,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
461 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; 461 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
462 } 462 }
463 463
464 m_taintPosition = value; 464 m_taintPosition = value;
465 _parent_scene.AddPhysicsActorTaint(this); 465 _parent_scene.AddPhysicsActorTaint(this);
466 } 466 }
467 else 467 else
@@ -796,7 +796,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
796 internal void Move(List<OdeCharacter> defects) 796 internal void Move(List<OdeCharacter> defects)
797 { 797 {
798 // no lock; for now it's only called from within Simulate() 798 // no lock; for now it's only called from within Simulate()
799 799
800 // If the PID Controller isn't active then we set our force 800 // If the PID Controller isn't active then we set our force
801 // calculating base velocity to the current position 801 // calculating base velocity to the current position
802 802
@@ -811,7 +811,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
811 811
812 d.Vector3 localpos = d.BodyGetPosition(Body); 812 d.Vector3 localpos = d.BodyGetPosition(Body);
813 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z); 813 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
814 814
815 if (!localPos.IsFinite()) 815 if (!localPos.IsFinite())
816 { 816 {
817 m_log.WarnFormat( 817 m_log.WarnFormat(
@@ -1248,10 +1248,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
1248 } 1248 }
1249 1249
1250 public override Vector3 PIDTarget { set { return; } } 1250 public override Vector3 PIDTarget { set { return; } }
1251 public override bool PIDActive 1251 public override bool PIDActive
1252 { 1252 {
1253 get { return false; } 1253 get { return false; }
1254 set { return; } 1254 set { return; }
1255 } 1255 }
1256 public override float PIDTau { set { return; } } 1256 public override float PIDTau { set { return; } }
1257 1257
@@ -1259,7 +1259,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1259 public override bool PIDHoverActive {get {return false;} set { return; } } 1259 public override bool PIDHoverActive {get {return false;} set { return; } }
1260 public override PIDHoverType PIDHoverType { set { return; } } 1260 public override PIDHoverType PIDHoverType { set { return; } }
1261 public override float PIDHoverTau { set { return; } } 1261 public override float PIDHoverTau { set { return; } }
1262 1262
1263 public override Quaternion APIDTarget{ set { return; } } 1263 public override Quaternion APIDTarget{ set { return; } }
1264 1264
1265 public override bool APIDActive{ set { return; } } 1265 public override bool APIDActive{ set { return; } }
@@ -1369,7 +1369,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1369// m_log.DebugFormat( 1369// m_log.DebugFormat(
1370// "[ODE CHARACTER]: Changing capsule size from {0} to {1} for {2}", 1370// "[ODE CHARACTER]: Changing capsule size from {0} to {1} for {2}",
1371// CAPSULE_LENGTH, m_tainted_CAPSULE_LENGTH, Name); 1371// CAPSULE_LENGTH, m_tainted_CAPSULE_LENGTH, Name);
1372 1372
1373 m_pidControllerActive = true; 1373 m_pidControllerActive = true;
1374 1374
1375 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate() 1375 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
index ff19384..7e95d7f 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
@@ -914,7 +914,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
914 914
915 // Sum velocities 915 // Sum velocities
916 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection 916 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
917 917
918 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) 918 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
919 { 919 {
920 m_lastAngularVelocity.X = 0; 920 m_lastAngularVelocity.X = 0;
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs b/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs
index d61ee61..22fc84d 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs
@@ -9,14 +9,14 @@ using OpenSim.Region.Framework.Interfaces;
9 9
10namespace OpenSim.Region.PhysicsModule.ODE 10namespace OpenSim.Region.PhysicsModule.ODE
11{ 11{
12 [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ODEPhysicsScene")] 12 [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ODEPhysicsScene")]
13 public class OdeModule : INonSharedRegionModule 13 public class OdeModule : INonSharedRegionModule
14 { 14 {
15 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 15 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
16 16
17 private bool m_Enabled = false; 17 private bool m_Enabled = false;
18 private IConfigSource m_config; 18 private IConfigSource m_config;
19 private OdeScene m_scene; 19 private OdeScene m_scene;
20 20
21 #region INonSharedRegionModule 21 #region INonSharedRegionModule
22 22
@@ -84,6 +84,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
84 84
85 m_scene.RegionLoaded(); 85 m_scene.RegionLoaded();
86 } 86 }
87 #endregion 87 #endregion
88 } 88 }
89} 89}
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
index 36546aa..8934330 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
@@ -33,7 +33,7 @@
33 * ODEDynamics.cs contains methods dealing with Prim Physical motion 33 * ODEDynamics.cs contains methods dealing with Prim Physical motion
34 * (dynamics) and the associated settings. Old Linear and angular 34 * (dynamics) and the associated settings. Old Linear and angular
35 * motors for dynamic motion have been replace with MoveLinear() 35 * motors for dynamic motion have been replace with MoveLinear()
36 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 36 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
37 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to 37 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
38 * switch between 'VEHICLE' parameter use and general dynamics 38 * switch between 'VEHICLE' parameter use and general dynamics
39 * settings use. 39 * settings use.
@@ -133,7 +133,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
133 private float m_targetHoverHeight; 133 private float m_targetHoverHeight;
134 private float m_groundHeight; 134 private float m_groundHeight;
135 private float m_waterHeight; 135 private float m_waterHeight;
136 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 136 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
137 137
138 // private float m_tensor = 5f; 138 // private float m_tensor = 5f;
139 private int body_autodisable_frames = 20; 139 private int body_autodisable_frames = 20;
@@ -170,7 +170,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
170 170
171 private PrimitiveBaseShape _pbs; 171 private PrimitiveBaseShape _pbs;
172 private OdeScene _parent_scene; 172 private OdeScene _parent_scene;
173 173
174 /// <summary> 174 /// <summary>
175 /// The physics space which contains prim geometries 175 /// The physics space which contains prim geometries
176 /// </summary> 176 /// </summary>
@@ -443,7 +443,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
443 443
444 d.BodySetAutoDisableFlag(Body, true); 444 d.BodySetAutoDisableFlag(Body, true);
445 d.BodySetAutoDisableSteps(Body, body_autodisable_frames); 445 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
446 446
447 // disconnect from world gravity so we can apply buoyancy 447 // disconnect from world gravity so we can apply buoyancy
448 d.BodySetGravityMode (Body, false); 448 d.BodySetGravityMode (Body, false);
449 449
@@ -474,8 +474,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
474 474
475 float returnMass = 0; 475 float returnMass = 0;
476 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; 476 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
477 float hollowVolume = hollowAmount * hollowAmount; 477 float hollowVolume = hollowAmount * hollowAmount;
478 478
479 switch (_pbs.ProfileShape) 479 switch (_pbs.ProfileShape)
480 { 480 {
481 case ProfileShape.Square: 481 case ProfileShape.Square:
@@ -511,16 +511,16 @@ namespace OpenSim.Region.PhysicsModule.ODE
511 511
512 else if (_pbs.PathCurve == (byte)Extrusion.Curve1) 512 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
513 { 513 {
514 //a tube 514 //a tube
515 515
516 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); 516 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
517 tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); 517 tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
518 volume -= volume*tmp*tmp; 518 volume -= volume*tmp*tmp;
519 519
520 if (hollowAmount > 0.0) 520 if (hollowAmount > 0.0)
521 { 521 {
522 hollowVolume *= hollowAmount; 522 hollowVolume *= hollowAmount;
523 523
524 switch (_pbs.HollowShape) 524 switch (_pbs.HollowShape)
525 { 525 {
526 case HollowShape.Square: 526 case HollowShape.Square:
@@ -579,7 +579,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
579 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); 579 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
580 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); 580 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
581 volume *= (1.0f - tmp * tmp); 581 volume *= (1.0f - tmp * tmp);
582 582
583 if (hollowAmount > 0.0) 583 if (hollowAmount > 0.0)
584 { 584 {
585 585
@@ -845,7 +845,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
845 else 845 else
846 { 846 {
847 _parent_scene.DeactivatePrim(this); 847 _parent_scene.DeactivatePrim(this);
848 848
849 m_collisionCategories &= ~CollisionCategories.Body; 849 m_collisionCategories &= ~CollisionCategories.Body;
850 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); 850 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
851 851
@@ -916,7 +916,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
916 else 916 else
917 { 917 {
918 _triMeshData = d.GeomTriMeshDataCreate(); 918 _triMeshData = d.GeomTriMeshDataCreate();
919 919
920 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); 920 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
921 d.GeomTriMeshDataPreprocess(_triMeshData); 921 d.GeomTriMeshDataPreprocess(_triMeshData);
922 m_MeshToTriMeshMap[mesh] = _triMeshData; 922 m_MeshToTriMeshMap[mesh] = _triMeshData;
@@ -974,7 +974,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
974 rotate(); 974 rotate();
975 } 975 }
976 } 976 }
977 977
978 if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent)) 978 if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent))
979 changePhysicsStatus(); 979 changePhysicsStatus();
980 980
@@ -1074,7 +1074,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
1074 else if (_parent != null && m_taintparent == null) 1074 else if (_parent != null && m_taintparent == null)
1075 { 1075 {
1076//Console.WriteLine(" changelink B"); 1076//Console.WriteLine(" changelink B");
1077 1077
1078 if (_parent is OdePrim) 1078 if (_parent is OdePrim)
1079 { 1079 {
1080 OdePrim obj = (OdePrim)_parent; 1080 OdePrim obj = (OdePrim)_parent;
@@ -1082,16 +1082,16 @@ Console.WriteLine("ZProcessTaints for " + Name);
1082 childPrim = false; 1082 childPrim = false;
1083 //_parent = null; 1083 //_parent = null;
1084 } 1084 }
1085 1085
1086 /* 1086 /*
1087 if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0) 1087 if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0)
1088 d.JointGroupDestroy(_linkJointGroup); 1088 d.JointGroupDestroy(_linkJointGroup);
1089 1089
1090 _linkJointGroup = (IntPtr)0; 1090 _linkJointGroup = (IntPtr)0;
1091 m_linkJoint = (IntPtr)0; 1091 m_linkJoint = (IntPtr)0;
1092 */ 1092 */
1093 } 1093 }
1094 1094
1095 _parent = m_taintparent; 1095 _parent = m_taintparent;
1096 m_taintPhysics = IsPhysical; 1096 m_taintPhysics = IsPhysical;
1097 } 1097 }
@@ -1345,7 +1345,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
1345 // in between the disabling and the collision properties setting 1345 // in between the disabling and the collision properties setting
1346 // which would wake the physical body up from a soft disabling and potentially cause it to fall 1346 // which would wake the physical body up from a soft disabling and potentially cause it to fall
1347 // through the ground. 1347 // through the ground.
1348 1348
1349 // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select 1349 // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select
1350 // just one part of the assembly, the rest of the assembly is non-selected and still simulating, 1350 // just one part of the assembly, the rest of the assembly is non-selected and still simulating,
1351 // so that causes the selected part to wake up and continue moving. 1351 // so that causes the selected part to wake up and continue moving.
@@ -1359,7 +1359,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
1359 // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are 1359 // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are
1360 // selected and disabled. then, due to a thread switch, the selection processing is 1360 // selected and disabled. then, due to a thread switch, the selection processing is
1361 // interrupted and the physics engine continues to simulate, so the last 50 items, whose 1361 // interrupted and the physics engine continues to simulate, so the last 50 items, whose
1362 // selection was not yet processed, continues to simulate. this wakes up ALL of the 1362 // selection was not yet processed, continues to simulate. this wakes up ALL of the
1363 // first 50 again. then the last 50 are disabled. then the first 50, which were just woken 1363 // first 50 again. then the last 50 are disabled. then the first 50, which were just woken
1364 // up, start simulating again, which in turn wakes up the last 50. 1364 // up, start simulating again, which in turn wakes up the last 50.
1365 1365
@@ -1565,7 +1565,7 @@ Console.WriteLine("CreateGeom:");
1565 private void changeadd() 1565 private void changeadd()
1566 { 1566 {
1567// m_log.DebugFormat("[ODE PRIM]: Adding prim {0}", Name); 1567// m_log.DebugFormat("[ODE PRIM]: Adding prim {0}", Name);
1568 1568
1569 int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position); 1569 int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
1570 IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position); 1570 IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
1571 1571
@@ -1711,10 +1711,10 @@ Console.WriteLine(" JointCreateFixed");
1711// fz = 0f; 1711// fz = 0f;
1712 //m_log.Info(m_collisionFlags.ToString()); 1712 //m_log.Info(m_collisionFlags.ToString());
1713 1713
1714 1714
1715 //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 1715 //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
1716 // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ?? 1716 // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ??
1717 // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up 1717 // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
1718 // gravityz multiplier = 1 - m_buoyancy 1718 // gravityz multiplier = 1 - m_buoyancy
1719 fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; 1719 fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass;
1720 1720
@@ -1729,7 +1729,7 @@ Console.WriteLine(" JointCreateFixed");
1729 fz = 0f; 1729 fz = 0f;
1730 1730
1731 // no lock; for now it's only called from within Simulate() 1731 // no lock; for now it's only called from within Simulate()
1732 1732
1733 // If the PID Controller isn't active then we set our force 1733 // If the PID Controller isn't active then we set our force
1734 // calculating base velocity to the current position 1734 // calculating base velocity to the current position
1735 1735
@@ -1738,7 +1738,7 @@ Console.WriteLine(" JointCreateFixed");
1738 //PID_G = PID_G / m_PIDTau; 1738 //PID_G = PID_G / m_PIDTau;
1739 m_PIDTau = 1; 1739 m_PIDTau = 1;
1740 } 1740 }
1741 1741
1742 if ((PID_G - m_PIDTau) <= 0) 1742 if ((PID_G - m_PIDTau) <= 0)
1743 { 1743 {
1744 PID_G = m_PIDTau + 1; 1744 PID_G = m_PIDTau + 1;
@@ -1761,7 +1761,7 @@ Console.WriteLine(" JointCreateFixed");
1761 if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f)) 1761 if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f))
1762 { 1762 {
1763 // keep track of where we stopped. No more slippin' & slidin' 1763 // keep track of where we stopped. No more slippin' & slidin'
1764 1764
1765 // We only want to deactivate the PID Controller if we think we want to have our surrogate 1765 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1766 // react to the physics scene by moving it's position. 1766 // react to the physics scene by moving it's position.
1767 // Avatar to Avatar collisions 1767 // Avatar to Avatar collisions
@@ -1782,7 +1782,7 @@ Console.WriteLine(" JointCreateFixed");
1782 // We're flying and colliding with something 1782 // We're flying and colliding with something
1783 fx = ((_target_velocity.X) - vel.X) * (PID_D); 1783 fx = ((_target_velocity.X) - vel.X) * (PID_D);
1784 fy = ((_target_velocity.Y) - vel.Y) * (PID_D); 1784 fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
1785 1785
1786 // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; 1786 // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
1787 1787
1788 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); 1788 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
@@ -1793,7 +1793,7 @@ Console.WriteLine(" JointCreateFixed");
1793 if (m_useHoverPID && !PIDActive) 1793 if (m_useHoverPID && !PIDActive)
1794 { 1794 {
1795//Console.WriteLine("Hover " + Name); 1795//Console.WriteLine("Hover " + Name);
1796 1796
1797 // If we're using the PID controller, then we have no gravity 1797 // If we're using the PID controller, then we have no gravity
1798 fz = (-1 * _parent_scene.gravityz) * m_mass; 1798 fz = (-1 * _parent_scene.gravityz) * m_mass;
1799 1799
@@ -1850,7 +1850,7 @@ Console.WriteLine(" JointCreateFixed");
1850 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) 1850 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
1851 { 1851 {
1852 // keep track of where we stopped. No more slippin' & slidin' 1852 // keep track of where we stopped. No more slippin' & slidin'
1853 1853
1854 // We only want to deactivate the PID Controller if we think we want to have our surrogate 1854 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1855 // react to the physics scene by moving it's position. 1855 // react to the physics scene by moving it's position.
1856 // Avatar to Avatar collisions 1856 // Avatar to Avatar collisions
@@ -1888,7 +1888,7 @@ Console.WriteLine(" JointCreateFixed");
1888 { 1888 {
1889 // A physical body at rest on a surface will auto-disable after a while, 1889 // A physical body at rest on a surface will auto-disable after a while,
1890 // this appears to re-enable it incase the surface it is upon vanishes, 1890 // this appears to re-enable it incase the surface it is upon vanishes,
1891 // and the body should fall again. 1891 // and the body should fall again.
1892 d.BodySetLinearVel(Body, 0f, 0f, 0f); 1892 d.BodySetLinearVel(Body, 0f, 0f, 0f);
1893 d.BodySetForce(Body, 0, 0, 0); 1893 d.BodySetForce(Body, 0, 0, 0);
1894 enableBodySoft(); 1894 enableBodySoft();
@@ -1897,7 +1897,7 @@ Console.WriteLine(" JointCreateFixed");
1897 // 35x10 = 350n times the mass per second applied maximum. 1897 // 35x10 = 350n times the mass per second applied maximum.
1898 float nmax = 35f * m_mass; 1898 float nmax = 35f * m_mass;
1899 float nmin = -35f * m_mass; 1899 float nmin = -35f * m_mass;
1900 1900
1901 if (fx > nmax) 1901 if (fx > nmax)
1902 fx = nmax; 1902 fx = nmax;
1903 if (fx < nmin) 1903 if (fx < nmin)
@@ -1916,7 +1916,7 @@ Console.WriteLine(" JointCreateFixed");
1916 // _zeroPosition = d.BodyGetPosition(Body); 1916 // _zeroPosition = d.BodyGetPosition(Body);
1917 return; 1917 return;
1918//Console.WriteLine("Nothing " + Name); 1918//Console.WriteLine("Nothing " + Name);
1919 1919
1920 } 1920 }
1921 } 1921 }
1922 1922
@@ -1942,7 +1942,7 @@ Console.WriteLine(" JointCreateFixed");
1942 // daughter prim, do Geom set 1942 // daughter prim, do Geom set
1943 d.GeomSetQuaternion(prim_geom, ref myrot); 1943 d.GeomSetQuaternion(prim_geom, ref myrot);
1944 } 1944 }
1945 1945
1946 resetCollisionAccounting(); 1946 resetCollisionAccounting();
1947 m_taintrot = _orientation; 1947 m_taintrot = _orientation;
1948 } 1948 }
@@ -2080,7 +2080,7 @@ Console.WriteLine(" JointCreateFixed");
2080 else 2080 else
2081 m_assetFailed = false; 2081 m_assetFailed = false;
2082 } 2082 }
2083 2083
2084 } 2084 }
2085 2085
2086 CreateGeom(m_targetSpace, mesh); 2086 CreateGeom(m_targetSpace, mesh);
@@ -2312,7 +2312,7 @@ Console.WriteLine(" JointCreateFixed");
2312 } 2312 }
2313 d.BodyEnable(Body); 2313 d.BodyEnable(Body);
2314 d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z); 2314 d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
2315 2315
2316 } 2316 }
2317 m_angularforcelist.Clear(); 2317 m_angularforcelist.Clear();
2318 } 2318 }
@@ -2342,7 +2342,7 @@ Console.WriteLine(" JointCreateFixed");
2342 d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); 2342 d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
2343 } 2343 }
2344 } 2344 }
2345 2345
2346 //resetCollisionAccounting(); 2346 //resetCollisionAccounting();
2347 } 2347 }
2348 2348
@@ -2686,7 +2686,7 @@ Console.WriteLine(" JointCreateFixed");
2686 2686
2687 if(m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) 2687 if(m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2688 m_vehicle.Stop(); // this also updates vehicle last position from the body position 2688 m_vehicle.Stop(); // this also updates vehicle last position from the body position
2689 2689
2690 enableBodySoft(); 2690 enableBodySoft();
2691 2691
2692 outofBounds = false; 2692 outofBounds = false;
@@ -2899,12 +2899,12 @@ Console.WriteLine(" JointCreateFixed");
2899 _acceleration = ((_velocity - m_lastVelocity) / 0.1f); 2899 _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
2900 _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); 2900 _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
2901 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); 2901 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
2902 2902
2903 // Note here that linearvelocity is affecting angular velocity... so I'm guessing this is a vehicle specific thing... 2903 // Note here that linearvelocity is affecting angular velocity... so I'm guessing this is a vehicle specific thing...
2904 // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large. 2904 // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large.
2905 // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles 2905 // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles
2906 // adding these logical exclusion situations to maintain this where I think it was intended to be. 2906 // adding these logical exclusion situations to maintain this where I think it was intended to be.
2907 if (m_throttleUpdates || PIDActive || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) 2907 if (m_throttleUpdates || PIDActive || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero))
2908 { 2908 {
2909 m_minvelocity = 0.5f; 2909 m_minvelocity = 0.5f;
2910 } 2910 }
@@ -2973,8 +2973,8 @@ Console.WriteLine(" JointCreateFixed");
2973 { 2973 {
2974 } 2974 }
2975 2975
2976 public override Vector3 PIDTarget 2976 public override Vector3 PIDTarget
2977 { 2977 {
2978 set 2978 set
2979 { 2979 {
2980 if (value.IsFinite()) 2980 if (value.IsFinite())
@@ -2983,7 +2983,7 @@ Console.WriteLine(" JointCreateFixed");
2983 } 2983 }
2984 else 2984 else
2985 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); 2985 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
2986 } 2986 }
2987 } 2987 }
2988 2988
2989 public override bool PIDActive { get; set; } 2989 public override bool PIDActive { get; set; }
@@ -2993,7 +2993,7 @@ Console.WriteLine(" JointCreateFixed");
2993 public override bool PIDHoverActive { get { return m_useHoverPID;} set { m_useHoverPID = value; } } 2993 public override bool PIDHoverActive { get { return m_useHoverPID;} set { m_useHoverPID = value; } }
2994 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } 2994 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
2995 public override float PIDHoverTau { set { m_PIDHoverTau = value; } } 2995 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
2996 2996
2997 public override Quaternion APIDTarget{ set { return; } } 2997 public override Quaternion APIDTarget{ set { return; } }
2998 2998
2999 public override bool APIDActive{ set { return; } } 2999 public override bool APIDActive{ set { return; } }
@@ -3189,7 +3189,7 @@ Console.WriteLine(" JointCreateFixed");
3189// m_assetFailed = false; 3189// m_assetFailed = false;
3190 3190
3191// m_log.DebugFormat( 3191// m_log.DebugFormat(
3192// "[ODE PRIM]: Received mesh/sculpt data asset {0} with {1} bytes for {2} at {3} in {4}", 3192// "[ODE PRIM]: Received mesh/sculpt data asset {0} with {1} bytes for {2} at {3} in {4}",
3193// _pbs.SculptTexture, _pbs.SculptData.Length, Name, _position, _parent_scene.Name); 3193// _pbs.SculptTexture, _pbs.SculptData.Length, Name, _position, _parent_scene.Name);
3194 3194
3195 m_taintshape = true; 3195 m_taintshape = true;
@@ -3201,6 +3201,6 @@ Console.WriteLine(" JointCreateFixed");
3201 "[ODE PRIM]: Could not get mesh/sculpt asset {0} for {1} at {2} in {3}", 3201 "[ODE PRIM]: Could not get mesh/sculpt asset {0} for {1} at {2} in {3}",
3202 _pbs.SculptTexture, Name, _position, _parent_scene.PhysicsSceneName); 3202 _pbs.SculptTexture, Name, _position, _parent_scene.PhysicsSceneName);
3203 } 3203 }
3204 } 3204 }
3205 } 3205 }
3206} \ No newline at end of file 3206} \ No newline at end of file
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
index a21ec2b..78dd7de 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
@@ -75,7 +75,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
75 { 75 {
76 m_scene = pScene; 76 m_scene = pScene;
77 nearCallback = near; 77 nearCallback = near;
78 78
79 } 79 }
80 80
81 /// <summary> 81 /// <summary>
@@ -136,7 +136,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
136 ODERayCastRequest[] reqs = m_PendingRequests.ToArray(); 136 ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
137 for (int i = 0; i < reqs.Length; i++) 137 for (int i = 0; i < reqs.Length; i++)
138 { 138 {
139 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 139 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
140 RayCast(reqs[i]); // if there isn't anyone to send results 140 RayCast(reqs[i]); // if there isn't anyone to send results
141 } 141 }
142 142
@@ -151,7 +151,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
151 ODERayRequest[] reqs = m_PendingRayRequests.ToArray(); 151 ODERayRequest[] reqs = m_PendingRayRequests.ToArray();
152 for (int i = 0; i < reqs.Length; i++) 152 for (int i = 0; i < reqs.Length; i++)
153 { 153 {
154 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 154 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
155 RayCast(reqs[i]); // if there isn't anyone to send results 155 RayCast(reqs[i]); // if there isn't anyone to send results
156 } 156 }
157 157
@@ -247,7 +247,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
247 req.callbackMethod(m_contactResults); 247 req.callbackMethod(m_contactResults);
248 } 248 }
249 } 249 }
250 250
251 // This is the standard Near. Uses space AABBs to speed up detection. 251 // This is the standard Near. Uses space AABBs to speed up detection.
252 private void near(IntPtr space, IntPtr g1, IntPtr g2) 252 private void near(IntPtr space, IntPtr g1, IntPtr g2)
253 { 253 {
@@ -262,7 +262,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
262 { 262 {
263 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) 263 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
264 return; 264 return;
265 265
266 // Separating static prim geometry spaces. 266 // Separating static prim geometry spaces.
267 // We'll be calling near recursivly if one 267 // We'll be calling near recursivly if one
268 // of them is a space to find all of the 268 // of them is a space to find all of the
@@ -290,7 +290,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
290 int count = 0; 290 int count = 0;
291 try 291 try
292 { 292 {
293 293
294 if (g1 == g2) 294 if (g1 == g2)
295 return; // Can't collide with yourself 295 return; // Can't collide with yourself
296 296
@@ -326,7 +326,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
326 if (p1 is OdePrim) 326 if (p1 is OdePrim)
327 { 327 {
328 ContactResult collisionresult = new ContactResult(); 328 ContactResult collisionresult = new ContactResult();
329 329
330 collisionresult.ConsumerID = p1.LocalID; 330 collisionresult.ConsumerID = p1.LocalID;
331 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z); 331 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
332 collisionresult.Depth = contacts[i].depth; 332 collisionresult.Depth = contacts[i].depth;
diff --git a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
index ed2aad4..d15568e 100644
--- a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
@@ -126,7 +126,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
126 /// </remarks> 126 /// </remarks>
127 internal static Object UniversalColliderSyncObject = new Object(); 127 internal static Object UniversalColliderSyncObject = new Object();
128 internal static Object SimulationLock = new Object(); 128 internal static Object SimulationLock = new Object();
129 129
130 /// <summary> 130 /// <summary>
131 /// Is stats collecting enabled for this ODE scene? 131 /// Is stats collecting enabled for this ODE scene?
132 /// </summary> 132 /// </summary>
@@ -495,14 +495,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
495 int spaceGridMaxY; 495 int spaceGridMaxY;
496 496
497 private ODERayCastRequestManager m_rayCastManager; 497 private ODERayCastRequestManager m_rayCastManager;
498 498
499 public Scene m_frameWorkScene = null; 499 public Scene m_frameWorkScene = null;
500 500
501 public OdeScene(Scene pscene, IConfigSource psourceconfig, string pname, string pversion) 501 public OdeScene(Scene pscene, IConfigSource psourceconfig, string pname, string pversion)
502 { 502 {
503 m_config = psourceconfig; 503 m_config = psourceconfig;
504 m_frameWorkScene = pscene; 504 m_frameWorkScene = pscene;
505 505
506 EngineType = pname; 506 EngineType = pname;
507 PhysicsSceneName = EngineType + "/" + pscene.RegionInfo.RegionName; 507 PhysicsSceneName = EngineType + "/" + pscene.RegionInfo.RegionName;
508 EngineName = pname + " " + pversion; 508 EngineName = pname + " " + pversion;
@@ -513,8 +513,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
513 InitialiseFromConfig(m_config); 513 InitialiseFromConfig(m_config);
514 514
515 // This may not be that good since terrain may not be avaiable at this point 515 // This may not be that good since terrain may not be avaiable at this point
516 base.Initialise(pscene.PhysicsRequestAsset, 516 base.Initialise(pscene.PhysicsRequestAsset,
517 (pscene.Heightmap != null ? pscene.Heightmap.GetFloatsSerialised() : new float[(int)(extent.X * extent.Y)]), 517 (pscene.Heightmap != null ? pscene.Heightmap.GetFloatsSerialised() : new float[(int)(extent.X * extent.Y)]),
518 (float)pscene.RegionInfo.RegionSettings.WaterHeight); 518 (float)pscene.RegionInfo.RegionSettings.WaterHeight);
519 519
520 } 520 }
@@ -524,8 +524,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
524 mesher = m_frameWorkScene.RequestModuleInterface<IMesher>(); 524 mesher = m_frameWorkScene.RequestModuleInterface<IMesher>();
525 if (mesher == null) 525 if (mesher == null)
526 m_log.WarnFormat("[ODE SCENE]: No mesher in {0}. Things will not work well.", PhysicsSceneName); 526 m_log.WarnFormat("[ODE SCENE]: No mesher in {0}. Things will not work well.", PhysicsSceneName);
527 527
528 m_frameWorkScene.PhysicsEnabled = true; 528 m_frameWorkScene.PhysicsEnabled = true;
529 } 529 }
530 530
531 /// <summary> 531 /// <summary>
@@ -535,11 +535,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
535 /// </summary> 535 /// </summary>
536 private void Initialise(Vector3 regionExtent) 536 private void Initialise(Vector3 regionExtent)
537 { 537 {
538 WorldExtents.X = regionExtent.X; 538 WorldExtents.X = regionExtent.X;
539 m_regionWidth = (uint)regionExtent.X; 539 m_regionWidth = (uint)regionExtent.X;
540 WorldExtents.Y = regionExtent.Y; 540 WorldExtents.Y = regionExtent.Y;
541 m_regionHeight = (uint)regionExtent.Y; 541 m_regionHeight = (uint)regionExtent.Y;
542 542
543 nearCallback = near; 543 nearCallback = near;
544 m_rayCastManager = new ODERayCastRequestManager(this); 544 m_rayCastManager = new ODERayCastRequestManager(this);
545 545
@@ -671,7 +671,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
671 spacesPerMeterY = spaceGridMaxY / WorldExtents.Y; 671 spacesPerMeterY = spaceGridMaxY / WorldExtents.Y;
672 } 672 }
673 673
674 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; 674 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
675 675
676 // make this index limits 676 // make this index limits
677 spaceGridMaxX--; 677 spaceGridMaxX--;
@@ -948,7 +948,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
948 { 948 {
949 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) 949 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
950 return; 950 return;
951 951
952 // Separating static prim geometry spaces. 952 // Separating static prim geometry spaces.
953 // We'll be calling near recursivly if one 953 // We'll be calling near recursivly if one
954 // of them is a space to find all of the 954 // of them is a space to find all of the
@@ -1027,10 +1027,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
1027 1027
1028 PhysicsActor p1; 1028 PhysicsActor p1;
1029 PhysicsActor p2; 1029 PhysicsActor p2;
1030 1030
1031 p1ExpectedPoints = 0; 1031 p1ExpectedPoints = 0;
1032 p2ExpectedPoints = 0; 1032 p2ExpectedPoints = 0;
1033 1033
1034 if (!actor_name_map.TryGetValue(g1, out p1)) 1034 if (!actor_name_map.TryGetValue(g1, out p1))
1035 { 1035 {
1036 p1 = PANull; 1036 p1 = PANull;
@@ -1067,7 +1067,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1067 IntPtr joint; 1067 IntPtr joint;
1068 // If we're colliding with terrain, use 'TerrainContact' instead of contact. 1068 // If we're colliding with terrain, use 'TerrainContact' instead of contact.
1069 // allows us to have different settings 1069 // allows us to have different settings
1070 1070
1071 // We only need to test p2 for 'jump crouch purposes' 1071 // We only need to test p2 for 'jump crouch purposes'
1072 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim) 1072 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
1073 { 1073 {
@@ -1081,7 +1081,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1081 { 1081 {
1082 p2.IsColliding = true; 1082 p2.IsColliding = true;
1083 } 1083 }
1084 1084
1085 //if ((framecount % m_returncollisions) == 0) 1085 //if ((framecount % m_returncollisions) == 0)
1086 1086
1087 switch (p1.PhysicsActorType) 1087 switch (p1.PhysicsActorType)
@@ -1160,7 +1160,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1160 1160
1161 // Logic for collision handling 1161 // Logic for collision handling
1162 // Note, that if *all* contacts are skipped (VolumeDetect) 1162 // Note, that if *all* contacts are skipped (VolumeDetect)
1163 // The prim still detects (and forwards) collision events but 1163 // The prim still detects (and forwards) collision events but
1164 // appears to be phantom for the world 1164 // appears to be phantom for the world
1165 Boolean skipThisContact = false; 1165 Boolean skipThisContact = false;
1166 1166
@@ -1235,10 +1235,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
1235 material = ((OdePrim) p2).m_material; 1235 material = ((OdePrim) p2).m_material;
1236 p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; 1236 p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts;
1237 } 1237 }
1238 1238
1239 // Unnessesary because p1 is defined above 1239 // Unnessesary because p1 is defined above
1240 //if (p1 is OdePrim) 1240 //if (p1 is OdePrim)
1241 // { 1241 // {
1242 // p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts; 1242 // p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts;
1243 // } 1243 // }
1244 //m_log.DebugFormat("Material: {0}", material); 1244 //m_log.DebugFormat("Material: {0}", material);
@@ -1350,7 +1350,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1350 material = ((OdePrim)p2).m_material; 1350 material = ((OdePrim)p2).m_material;
1351 p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; 1351 p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts;
1352 } 1352 }
1353 1353
1354 //m_log.DebugFormat("Material: {0}", material); 1354 //m_log.DebugFormat("Material: {0}", material);
1355 m_materialContacts[material, 0].geom = curContact; 1355 m_materialContacts[material, 0].geom = curContact;
1356 1356
@@ -1370,7 +1370,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1370 } 1370 }
1371 1371
1372 collision_accounting_events(p1, p2, maxDepthContact); 1372 collision_accounting_events(p1, p2, maxDepthContact);
1373 1373
1374 if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle)) 1374 if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle))
1375 { 1375 {
1376 // If there are more then 3 contact points, it's likely 1376 // If there are more then 3 contact points, it's likely
@@ -1410,7 +1410,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1410 break; 1410 break;
1411 } 1411 }
1412 } 1412 }
1413 } 1413 }
1414 else if (at == ActorTypes.Prim) 1414 else if (at == ActorTypes.Prim)
1415 { 1415 {
1416 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f))) 1416 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)))
@@ -1544,11 +1544,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
1544 // since we don't know if we're colliding yet 1544 // since we don't know if we're colliding yet
1545 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) 1545 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1546 continue; 1546 continue;
1547 1547
1548 chr.IsColliding = false; 1548 chr.IsColliding = false;
1549 chr.CollidingGround = false; 1549 chr.CollidingGround = false;
1550 chr.CollidingObj = false; 1550 chr.CollidingObj = false;
1551 1551
1552 // Test the avatar's geometry for collision with the space 1552 // Test the avatar's geometry for collision with the space
1553 // This will return near and the space that they are the closest to 1553 // This will return near and the space that they are the closest to
1554 // And we'll run this again against the avatar and the space segment 1554 // And we'll run this again against the avatar and the space segment
@@ -1562,7 +1562,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1562 { 1562 {
1563 m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", PhysicsSceneName); 1563 m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", PhysicsSceneName);
1564 } 1564 }
1565 1565
1566 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y); 1566 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
1567 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10) 1567 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
1568 //{ 1568 //{
@@ -1655,7 +1655,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1655 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]); 1655 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
1656 return (float)TerrainHeightFieldHeights[heightFieldGeom][index]; 1656 return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
1657 } 1657 }
1658 1658
1659 else 1659 else
1660 return 0f; 1660 return 0f;
1661 } 1661 }
@@ -1675,7 +1675,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1675 { 1675 {
1676 return 0f; 1676 return 0f;
1677 } 1677 }
1678 } 1678 }
1679// End recovered. Kitto Flora 1679// End recovered. Kitto Flora
1680 1680
1681 /// <summary> 1681 /// <summary>
@@ -1685,7 +1685,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1685 internal void AddCollisionEventReporting(PhysicsActor obj) 1685 internal void AddCollisionEventReporting(PhysicsActor obj)
1686 { 1686 {
1687// m_log.DebugFormat("[PHYSICS]: Adding {0} {1} to collision event reporting", obj.SOPName, obj.LocalID); 1687// m_log.DebugFormat("[PHYSICS]: Adding {0} {1} to collision event reporting", obj.SOPName, obj.LocalID);
1688 1688
1689 lock (m_collisionEventActorsChanges) 1689 lock (m_collisionEventActorsChanges)
1690 m_collisionEventActorsChanges[obj.LocalID] = obj; 1690 m_collisionEventActorsChanges[obj.LocalID] = obj;
1691 } 1691 }
@@ -2071,7 +2071,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2071 2071
2072 lock (externalJointRequestsLock) 2072 lock (externalJointRequestsLock)
2073 { 2073 {
2074 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice 2074 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
2075 { 2075 {
2076 requestedJointsToBeCreated.Add(joint); 2076 requestedJointsToBeCreated.Add(joint);
2077 } 2077 }
@@ -2417,7 +2417,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2417// waitForSpaceUnlock(space); 2417// waitForSpaceUnlock(space);
2418 d.SpaceSetSublevel(space, 1); 2418 d.SpaceSetSublevel(space, 1);
2419 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]); 2419 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
2420 2420
2421 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]; 2421 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
2422 } 2422 }
2423 2423
@@ -2514,7 +2514,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2514 iPropertiesNotSupportedDefault++; 2514 iPropertiesNotSupportedDefault++;
2515 2515
2516 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) 2516 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
2517 iPropertiesNotSupportedDefault++; 2517 iPropertiesNotSupportedDefault++;
2518 2518
2519 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) 2519 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
2520 iPropertiesNotSupportedDefault++; 2520 iPropertiesNotSupportedDefault++;
@@ -2587,7 +2587,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2587#if SPAM 2587#if SPAM
2588 m_log.Debug("Mesh"); 2588 m_log.Debug("Mesh");
2589#endif 2589#endif
2590 return true; 2590 return true;
2591 } 2591 }
2592 2592
2593 /// <summary> 2593 /// <summary>
@@ -2652,7 +2652,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2652 } 2652 }
2653 _taintedPrims.Clear(); 2653 _taintedPrims.Clear();
2654 } 2654 }
2655 2655
2656 int time = Util.EnvironmentTickCountSubtract(tstart); 2656 int time = Util.EnvironmentTickCountSubtract(tstart);
2657 m_log.InfoFormat("[Ode] finished {0} operations in {1}ms", donechanges, time); 2657 m_log.InfoFormat("[Ode] finished {0} operations in {1}ms", donechanges, time);
2658 } 2658 }
@@ -2716,7 +2716,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2716 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks 2716 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2717 } 2717 }
2718 2718
2719 2719
2720 lock (OdeLock) 2720 lock (OdeLock)
2721 { 2721 {
2722 d.AllocateODEDataForThread(~0U); 2722 d.AllocateODEDataForThread(~0U);
@@ -3109,7 +3109,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3109 // as the axis for the hinge. 3109 // as the axis for the hinge.
3110 3110
3111 // Therefore, we must get the joint's coordinate frame based on the 3111 // Therefore, we must get the joint's coordinate frame based on the
3112 // joint.Rotation field, which originates from the orientation of the 3112 // joint.Rotation field, which originates from the orientation of the
3113 // joint's proxy object in the scene. 3113 // joint's proxy object in the scene.
3114 3114
3115 // The joint's coordinate frame is defined as the transformation matrix 3115 // The joint's coordinate frame is defined as the transformation matrix
@@ -3237,7 +3237,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3237 int startTime = Util.EnvironmentTickCount(); 3237 int startTime = Util.EnvironmentTickCount();
3238 m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", PhysicsSceneName, pOffset); 3238 m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", PhysicsSceneName, pOffset);
3239 3239
3240 3240
3241 float[] _heightmap; 3241 float[] _heightmap;
3242 3242
3243 // ok im lasy this are just a aliases 3243 // ok im lasy this are just a aliases
generated by cgit v1.1 at 2024-11-16 11:07:53 +0000