remove the hard to maintain Ode.Net wrapper only in use by old ode

8 files changed, 33 insertions, 290 deletions

diff --git a/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
index c1afe13..4c9df9c 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
@@ -29,7 +29,6 @@ using System;
 using System.Collections.Generic;
 using System.Reflection;
 using OpenMetaverse;
-using Ode.NET;
 using OpenSim.Framework;
 using OpenSim.Region.PhysicsModules.SharedBase;
 using log4net;
@@ -1105,8 +1104,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
 //          lock (OdeScene.UniversalColliderSyncObject)
             Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
 
-            d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
-            d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
+            d.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
+            d.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
 
             d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
             Body = d.BodyCreate(_parent_scene.world);
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
index 8f8e2bd..739a7b3 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
@@ -44,10 +44,10 @@ using System.Reflection;
 using System.Runtime.InteropServices;
 using log4net;
 using OpenMetaverse;
-using Ode.NET;
 using OpenSim.Framework;
 using OpenSim.Region.PhysicsModules.SharedBase;
 
+
 namespace OpenSim.Region.PhysicsModule.ODE
 {
     public class ODEDynamics
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs b/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs
index 101e8b0..ed50de3 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs
@@ -6,7 +6,6 @@ using Mono.Addins;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Interfaces;
-using Ode.NET;
 
 namespace OpenSim.Region.PhysicsModule.ODE
 {
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
index 908b266..82b0999 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
@@ -48,7 +48,6 @@ using System.Runtime.InteropServices;
 using System.Threading;
 using log4net;
 using OpenMetaverse;
-using Ode.NET;
 using OpenSim.Framework;
 using OpenSim.Region.PhysicsModules.SharedBase;
 
@@ -359,12 +358,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
             if (m_assetFailed)
             {
                 d.GeomSetCategoryBits(prim_geom, 0);
-                d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
+                d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
             }
             else
             {
-                d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
-                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
+                d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
             }
 
             _parent_scene.geom_name_map[prim_geom] = Name;
@@ -432,7 +431,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
                 if (m_assetFailed)
                 {
                     d.GeomSetCategoryBits(prim_geom, 0);
-                    d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
+                    d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
                 }
                 else
                 {
@@ -440,8 +439,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
                     m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
                 }
 
-                d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
-                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
+                d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
 
                 d.BodySetAutoDisableFlag(Body, true);
                 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
@@ -825,8 +824,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
                         }
                         else
                         {
-                            d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
-                            d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                            d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
+                            d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
                         }
 
                         d.BodyDestroy(Body);
@@ -859,8 +858,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
                     else
                     {
 
-                        d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
-                        d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                        d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
+                        d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
                     }
 
                     Body = IntPtr.Zero;
@@ -1151,12 +1150,12 @@ Console.WriteLine("ZProcessTaints for " + Name);
                     if (prm.m_assetFailed)
                     {
                         d.GeomSetCategoryBits(prm.prim_geom, 0);
-                        d.GeomSetCollideBits(prm.prim_geom, prm.BadMeshAssetCollideBits);
+                        d.GeomSetCollideBits(prm.prim_geom, (uint)prm.BadMeshAssetCollideBits);
                     }
                     else
                     {
-                        d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
-                        d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
+                        d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
+                        d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
                     }
 
                     d.Quaternion quat = new d.Quaternion();
@@ -1200,14 +1199,14 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 if (m_assetFailed)
                 {
                     d.GeomSetCategoryBits(prim_geom, 0);
-                    d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
+                    d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
                 }
                 else
                 {
                     //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
-                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
                     //Console.WriteLine(" Post GeomSetCategoryBits 2");
-                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                    d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
                 }
 
                 d.Quaternion quat2 = new d.Quaternion();
@@ -1377,8 +1376,8 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 }
                 else
                 {
-                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
-                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                    d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
                 }
 
                 if (IsPhysical)
@@ -1403,12 +1402,12 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 if (m_assetFailed)
                 {
                     d.GeomSetCategoryBits(prim_geom, 0);
-                    d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
+                    d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
                 }
                 else
                 {
-                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
-                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                    d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
                 }
 
                 if (IsPhysical)
@@ -2135,10 +2134,10 @@ Console.WriteLine(" JointCreateFixed");
             }
 
             if (m_assetFailed)
-                d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
+                d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
             else
 
-                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
         }
         /// <summary>
         /// Change prim in response to a shape taint.
@@ -2813,6 +2812,7 @@ Console.WriteLine(" JointCreateFixed");
                         d.BodySetLinearVel(Body, 0, 0, 0);
                         disableBodySoft();
 
+                        _position = l_position;
                         // tell framework to fix it
                         if (_parent == null)
                             base.RequestPhysicsterseUpdate();
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
index 6199387..e39b8c7 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
@@ -32,7 +32,6 @@ using System.Runtime.InteropServices;
 using System.Text;
 using OpenMetaverse;
 using OpenSim.Region.PhysicsModules.SharedBase;
-using Ode.NET;
 using log4net;
 
 namespace OpenSim.Region.PhysicsModule.ODE
@@ -358,7 +357,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
 
                 lock (contacts)
                 {
-                    count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
+                    count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.unmanagedSizeOf);
                 }
             }
             catch (SEHException)
diff --git a/OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs b/OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs
index 2eb7ba6..e2578be 100644
--- a/OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs
@@ -27,10 +27,8 @@
 
 using System;
 using OpenMetaverse;
-using Ode.NET;
 using OpenSim.Framework;
 using OpenSim.Region.PhysicsModules.SharedBase;
-using OpenSim.Region.PhysicsModule.ODE;
 
 namespace OpenSim.Region.PhysicsModule.ODE
 {
diff --git a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
index 4e95b7a..6f14121 100644
--- a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
@@ -31,9 +31,6 @@
 // or application thread stack may just blowup
 // see RayCast(ODERayCastRequest req)
 
-//#define USE_DRAWSTUFF
-//#define SPAM
-
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
@@ -46,17 +43,12 @@ using System.Threading;
 using log4net;
 using Nini.Config;
 using Mono.Addins;
-using Ode.NET;
 using OpenMetaverse;
-#if USE_DRAWSTUFF
-using Drawstuff.NET;
-#endif 
 using OpenSim.Framework;
 using OpenSim.Region.PhysicsModules.SharedBase;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Interfaces;
 
-
 namespace OpenSim.Region.PhysicsModule.ODE
 {
     public enum StatusIndicators : int
@@ -585,32 +577,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
 
             d.WorldSetAutoDisableFlag(world, false);
 
-            #if USE_DRAWSTUFF
-            Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
-            viewthread.Start();
-            #endif
-
- //           _watermap = new float[258 * 258];
+//           _watermap = new float[258 * 258];
 
             // Zero out the prim spaces array (we split our space into smaller spaces so
             // we can hit test less.
         }
 
-#if USE_DRAWSTUFF
-        public void startvisualization(object o)
-        {
-            ds.Functions fn;
-            fn.version = ds.VERSION;
-            fn.start = new ds.CallbackFunction(start);
-            fn.step = new ds.CallbackFunction(step);
-            fn.command = new ds.CallbackFunction(command);
-            fn.stop = null;
-            fn.path_to_textures = "./textures";
-            string[] args = new string[0];
-            ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
-        }
-#endif
-
         // Initialize from configs
         private void InitialiseFromConfig(IConfigSource config)
         {
@@ -957,7 +929,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
         /// <param name='contactsArray'></param>
         /// <param name='contactGeomSize'></param>
         private int CollideGeoms(
-            IntPtr geom1, IntPtr geom2, int maxContacts, Ode.NET.d.ContactGeom[] contactsArray, int contactGeomSize)
+            IntPtr geom1, IntPtr geom2, int maxContacts, d.ContactGeom[] contactsArray, int contactGeomSize)
         {
             int count;
 
@@ -1090,7 +1062,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
                 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
                     return;
 
-                count = CollideGeoms(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
+                count = CollideGeoms(g1, g2, contacts.Length, contacts, d.ContactGeom.unmanagedSizeOf);
 
                 // All code after this is only relevant if we have any collisions
                 if (count <= 0)
@@ -2972,7 +2944,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
         /// <returns>The number of frames simulated over that period.</returns>
         public override float Simulate(float timeStep)
         {
-            if (!_worldInitialized) return 11f;
+            if (!_worldInitialized)
+                return 1.0f;
 
             int startFrameTick = CollectStats ? Util.EnvironmentTickCount() : 0;
             int tempTick = 0, tempTick2 = 0;
@@ -3804,133 +3777,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
             return new List<ContactResult>(ourResults);
         }
 
-#if USE_DRAWSTUFF
-        // Keyboard callback
-        public void command(int cmd)
-        {
-            IntPtr geom;
-            d.Mass mass;
-            d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
-
-            
-
-            Char ch = Char.ToLower((Char)cmd);
-            switch ((Char)ch)
-            {
-                case 'w':
-                    try
-                    {
-                        Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
-
-                        xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
-                        ds.SetViewpoint(ref xyz, ref hpr);
-                    }
-                    catch (ArgumentException)
-                    { hpr.X = 0; }
-                    break;
-
-                case 'a':
-                    hpr.X++;
-                    ds.SetViewpoint(ref xyz, ref hpr);
-                    break;
-
-                case 's':
-                    try
-                    {
-                        Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
-
-                        xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
-                        ds.SetViewpoint(ref xyz, ref hpr);
-                    }
-                    catch (ArgumentException)
-                    { hpr.X = 0; }
-                    break;
-                case 'd':
-                    hpr.X--;
-                    ds.SetViewpoint(ref xyz, ref hpr);
-                    break;
-                case 'r':
-                    xyz.Z++;
-                    ds.SetViewpoint(ref xyz, ref hpr);
-                    break;
-                case 'f':
-                    xyz.Z--;
-                    ds.SetViewpoint(ref xyz, ref hpr);
-                    break;
-                case 'e':
-                    xyz.Y++;
-                    ds.SetViewpoint(ref xyz, ref hpr);
-                    break;
-                case 'q':
-                    xyz.Y--;
-                    ds.SetViewpoint(ref xyz, ref hpr);
-                    break;
-            }
-        }
-
-        public void step(int pause)
-        {
-            
-            ds.SetColor(1.0f, 1.0f, 0.0f);
-            ds.SetTexture(ds.Texture.Wood);
-            lock (_prims)
-            {
-                foreach (OdePrim prm in _prims)
-                {
-                    //IntPtr body = d.GeomGetBody(prm.prim_geom);
-                    if (prm.prim_geom != IntPtr.Zero)
-                    {
-                        d.Vector3 pos;
-                        d.GeomCopyPosition(prm.prim_geom, out pos);
-                        //d.BodyCopyPosition(body, out pos);
-
-                        d.Matrix3 R;
-                        d.GeomCopyRotation(prm.prim_geom, out R);
-                        //d.BodyCopyRotation(body, out R);
-
-
-                        d.Vector3 sides = new d.Vector3();
-                        sides.X = prm.Size.X;
-                        sides.Y = prm.Size.Y;
-                        sides.Z = prm.Size.Z;
-
-                        ds.DrawBox(ref pos, ref R, ref sides);
-                    }
-                }
-            }
-            ds.SetColor(1.0f, 0.0f, 0.0f);
-
-            foreach (OdeCharacter chr in _characters)
-            {
-                if (chr.Shell != IntPtr.Zero)
-                {
-                    IntPtr body = d.GeomGetBody(chr.Shell);
-
-                    d.Vector3 pos;
-                    d.GeomCopyPosition(chr.Shell, out pos);
-                    //d.BodyCopyPosition(body, out pos);
-
-                    d.Matrix3 R;
-                    d.GeomCopyRotation(chr.Shell, out R);
-                    //d.BodyCopyRotation(body, out R);
-
-                    ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
-                    d.Vector3 sides = new d.Vector3();
-                    sides.X = 0.5f;
-                    sides.Y = 0.5f;
-                    sides.Z = 0.5f;
-
-                    ds.DrawBox(ref pos, ref R, ref sides);
-                }
-            }
-        }
-
-        public void start(int unused)
-        {
-            ds.SetViewpoint(ref xyz, ref hpr);
-        }
-#endif
-
         public override Dictionary<string, float> GetStats()
         {
             if (!CollectStats)
diff --git a/OpenSim/Region/PhysicsModules/Ode/drawstuff.cs b/OpenSim/Region/PhysicsModules/Ode/drawstuff.cs
deleted file mode 100644
index 87ca446..0000000
--- a/OpenSim/Region/PhysicsModules/Ode/drawstuff.cs
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
- * Copyright ODE
- * Ode.NET - .NET bindings for ODE
- *  Jason Perkins (starkos@industriousone.com)
- *  Licensed under the New BSD
- *  Part of the OpenDynamicsEngine
-Open Dynamics Engine
-Copyright (c) 2001-2007, Russell L. Smith.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions
-are met:
-
-Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.
-
-Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation
-and/or other materials provided with the distribution.
-
-Neither the names of ODE's copyright owner nor the names of its
-contributors may be used to endorse or promote products derived from
-this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
-TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- * 
- * 
- */
-
-using System;
-using System.Runtime.InteropServices;
-using Ode.NET;
-
-namespace Drawstuff.NET
-{
-#if dDOUBLE
-    using dReal = System.Double;
-#else
-    using dReal = System.Single;
-#endif
-
-    public static class ds
-    {
-        public const int VERSION = 2;
-
-        public enum Texture
-        {
-            None,
-            Wood
-        }
-
-        [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-        public delegate void CallbackFunction(int arg);
-
-        [StructLayout(LayoutKind.Sequential)]
-        public struct Functions
-        {
-            public int version;
-            public CallbackFunction start;
-            public CallbackFunction step;
-            public CallbackFunction command;
-            public CallbackFunction stop;
-            public string path_to_textures;
-        }
-
-        [DllImport("drawstuff", EntryPoint = "dsDrawBox")]
-        public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
-
-        [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
-        public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
-
-        [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
-        public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
-
-        [DllImport("drawstuff", EntryPoint = "dsSetColor")]
-        public static extern void SetColor(float red, float green, float blue);
-
-        [DllImport("drawstuff", EntryPoint = "dsSetTexture")]
-        public static extern void SetTexture(Texture texture);
-
-        [DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
-        public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
-
-        [DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
-        public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
-    }
-}