one more for the gipper

1 files changed, 67 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/DotNetManaged/World.h b/libraries/ode-0.9/contrib/DotNetManaged/World.h
new file mode 100644
index 0000000..c4c60e5
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/World.h
@@ -0,0 +1,67 @@
+#pragma once
+
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{       
+        __gc public class World
+        {       
+        public:
+
+                //Constructor
+                
+                        World(void);
+
+
+                //Destructor
+                        
+                        ~World(void);
+
+                        
+                // Methods
+
+                        dWorldID Id(void);
+                        
+                        void SetGravity(double x, double y, double z);
+
+                        //Overloaded GetGravity
+                        Vector3 GetGravity(void);               
+                        void GetGravity(double gravity __gc[]);
+
+                        void Step(double stepSize);
+
+
+                //Properties
+
+                        //Constraint Force Mixing
+                        __property void set_CFM(double cfm)
+                        {
+                                dWorldSetCFM(this->_id,cfm);
+                        }
+
+                        __property double get_CFM(void)
+                        {
+                                return dWorldGetCFM(this->_id); 
+                        }
+
+
+                        //Error Reduction Parameter
+                        __property void set_ERP(double erp)
+                        {
+                                dWorldSetERP(this->_id,erp);
+                        }
+
+                        __property double get_ERP(void)
+                        {
+                                return dWorldGetERP(this->_id); 
+                        }
+
+
+                private:
+
+                        dWorldID _id;
+
+        };
+
+}
+