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authordan miller2007-10-19 05:15:33 +0000
committerdan miller2007-10-19 05:15:33 +0000
commit79eca25c945a535a7a0325999034bae17da92412 (patch)
tree40ff433d94859d629aac933d5ec73b382f62ba1a /libraries/ode-0.9/contrib/DotNetManaged
parentadding ode source to /libraries (diff)
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resubmitting ode
Diffstat (limited to 'libraries/ode-0.9/contrib/DotNetManaged')
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp58
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Body.cpp322
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Body.h76
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/CommonMgd.h43
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.sln21
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.vcproj379
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp219
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Geom.h75
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Joint.cpp35
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Joint.h21
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp162
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.h62
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp79
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointBall.h38
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointFixed.cpp67
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointFixed.h37
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointGroup.cpp53
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointGroup.h33
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp121
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h195
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp133
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.h48
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp102
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/JointSlider.h158
-rwxr-xr-xlibraries/ode-0.9/contrib/DotNetManaged/Release/ode.dllbin0 -> 196608 bytes
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Space.cpp53
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Space.h33
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Stdafx.cpp5
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/Stdafx.h12
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/TEST.h17
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/World.cpp74
-rw-r--r--libraries/ode-0.9/contrib/DotNetManaged/World.h67
32 files changed, 2798 insertions, 0 deletions
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp b/libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp
new file mode 100644
index 0000000..e550a32
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp
@@ -0,0 +1,58 @@
1#include "stdafx.h"
2
3using namespace System::Reflection;
4using namespace System::Runtime::CompilerServices;
5
6//
7// General Information about an assembly is controlled through the following
8// set of attributes. Change these attribute values to modify the information
9// associated with an assembly.
10//
11[assembly:AssemblyTitleAttribute("")];
12[assembly:AssemblyDescriptionAttribute("")];
13[assembly:AssemblyConfigurationAttribute("")];
14[assembly:AssemblyCompanyAttribute("")];
15[assembly:AssemblyProductAttribute("")];
16[assembly:AssemblyCopyrightAttribute("")];
17[assembly:AssemblyTrademarkAttribute("")];
18[assembly:AssemblyCultureAttribute("")];
19
20//
21// Version information for an assembly consists of the following four values:
22//
23// Major Version
24// Minor Version
25// Build Number
26// Revision
27//
28// You can specify all the value or you can default the Revision and Build Numbers
29// by using the '*' as shown below:
30
31[assembly:AssemblyVersionAttribute("1.0.*")];
32
33//
34// In order to sign your assembly you must specify a key to use. Refer to the
35// Microsoft .NET Framework documentation for more information on assembly signing.
36//
37// Use the attributes below to control which key is used for signing.
38//
39// Notes:
40// (*) If no key is specified, the assembly is not signed.
41// (*) KeyName refers to a key that has been installed in the Crypto Service
42// Provider (CSP) on your machine. KeyFile refers to a file which contains
43// a key.
44// (*) If the KeyFile and the KeyName values are both specified, the
45// following processing occurs:
46// (1) If the KeyName can be found in the CSP, that key is used.
47// (2) If the KeyName does not exist and the KeyFile does exist, the key
48// in the KeyFile is installed into the CSP and used.
49// (*) In order to create a KeyFile, you can use the sn.exe (Strong Name) utility.
50// When specifying the KeyFile, the location of the KeyFile should be
51// relative to the project directory.
52// (*) Delay Signing is an advanced option - see the Microsoft .NET Framework
53// documentation for more information on this.
54//
55[assembly:AssemblyDelaySignAttribute(false)];
56[assembly:AssemblyKeyFileAttribute("")];
57[assembly:AssemblyKeyNameAttribute("")];
58
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Body.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Body.cpp
new file mode 100644
index 0000000..c95ae57
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Body.cpp
@@ -0,0 +1,322 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "Body.h"
5
6namespace ODEManaged
7{
8
9 //Constructors
10
11 Body::Body(void)
12 {
13 _id = 0;
14 }
15
16 Body::Body(World &world)
17 {
18 _id = dBodyCreate(world.Id());
19 }
20
21
22 //Destructor
23
24 Body::~Body(void)
25 {
26 dBodyDestroy(this->_id);
27 }
28
29
30 //Methods
31
32 //Id
33 dBodyID Body::Id()
34 {
35 return _id;
36 }
37
38
39 //SetData
40 void Body::SetData(void *data)
41 {
42 dBodySetData(this->_id, data);
43 }
44
45 //GetData
46 void *Body::GetData(void)
47 {
48 return dBodyGetData(this->_id);
49 }
50
51
52 //SetPosition
53 void Body::SetPosition (double x, double y, double z)
54 {
55 dBodySetPosition(this->_id, x, y, z);
56 }
57
58
59 //Overloaded GetPosition
60 Vector3 Body::GetPosition(void)
61 {
62 Vector3 retVal;
63 const dReal *temp;
64 temp = dBodyGetPosition(this->_id);
65 retVal.x = temp[0];
66 retVal.y = temp[1];
67 retVal.z = temp[2];
68 return retVal;
69 };
70
71 void Body::GetPosition(double position __gc[])
72 {
73 const dReal *temp;
74 temp = dBodyGetPosition(this->_id);
75 position[0] = temp[0];
76 position[1] = temp[1];
77 position[2] = temp[2];
78 }
79
80
81 //SetRotationIdentity
82 void Body::SetRotationIdentity(void)
83 {
84 dMatrix3 temp;
85 dRSetIdentity(temp);
86 dBodySetRotation(this->_id, temp);
87 }
88
89
90 //SetRotation (left handed system=>transpose)
91 void Body::SetRotation(Matrix3 rotation)
92 {
93 dMatrix3 temp;
94 temp[0] = rotation.m11;
95 temp[4] = rotation.m12;
96 temp[8] = rotation.m13;
97 temp[1] = rotation.m21;
98 temp[5] = rotation.m22;
99 temp[9] = rotation.m23;
100 temp[2] = rotation.m31;
101 temp[6] = rotation.m32;
102 temp[10] = rotation.m33;
103 dBodySetRotation(this->_id, temp);
104 }
105
106 //GetRotation (left handed system=>transpose)
107 Matrix3 Body::GetRotation(void)
108 {
109 Matrix3 retVal;
110 //const dMatrix3 *m;
111 const dReal *temp;
112 temp = dBodyGetRotation(this->_id);
113 retVal.m11 = temp[0];
114 retVal.m12 = temp[4];
115 retVal.m13 = temp[8];
116 retVal.m21 = temp[1];
117 retVal.m22 = temp[5];
118 retVal.m23 = temp[9];
119 retVal.m31 = temp[2];
120 retVal.m32 = temp[6];
121 retVal.m33 = temp[10];
122 return retVal;
123 }
124
125
126 //Overloaded SetMass
127 void Body::SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia)
128 {
129 dMass *temp = new dMass();
130 dMassSetParameters(temp, mass,
131 centerOfGravity.x,
132 centerOfGravity.y,
133 centerOfGravity.z,
134 inertia.m11, inertia.m22,
135 inertia.m33, inertia.m12,
136 inertia.m13, inertia.m23);
137
138 dBodySetMass(this->_id, temp);
139 }
140
141
142 //SetMassSphere
143 void Body::SetMassSphere(double density, double radius)
144 {
145 dMass *temp = new dMass();
146 dMassSetSphere(temp, density, radius);
147 dBodySetMass(this->_id, temp);
148 }
149
150
151 //SetMassBox
152 void Body::SetMassBox(double density, double sideX, double sideY, double sideZ)
153 {
154 dMass *temp = new dMass();
155 dMassSetBox(temp, density, sideX, sideY, sideZ);
156 dBodySetMass(this->_id, temp);
157 }
158
159
160 //SetMassCappedCylinder
161 void Body::SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength)
162 {
163 dMass *temp = new dMass();
164 dMassSetCappedCylinder(temp, density, axis,
165 cylinderRadius,
166 cylinderLength);
167
168 dBodySetMass(this->_id, temp);
169 }
170
171
172 //AddForce
173 void Body::AddForce(double fX, double fY, double fZ)
174 {
175 dBodyAddForce(this->_id, fX, fY, fZ);
176 }
177
178
179 //AddRelForce
180 void Body::AddRelForce(double fX, double fY, double fZ)
181 {
182 dBodyAddRelForce(this->_id, fX,fY,fZ);
183 }
184
185
186 //AddForceAtPos
187 void Body::AddForceAtPos(double fX, double fY, double fZ, double pX, double pY, double pZ)
188 {
189 dBodyAddForceAtPos(this->_id, fX, fY, fZ, pX, pY, pZ);
190 }
191
192
193 //AddRelForceAtPos
194 void Body::AddRelForceAtPos(double fX, double fY, double fZ, double pX, double pY, double pZ)
195 {
196 dBodyAddRelForceAtPos(this->_id, fX, fY, fZ, pX, pY, pZ);
197 }
198
199
200 //AddRelForceAtRelPos
201 void Body::AddRelForceAtRelPos(double fX, double fY, double fZ, double pX, double pY, double pZ)
202 {
203 dBodyAddRelForceAtRelPos(this->_id, fX, fY, fZ, pX, pY, pZ);
204 }
205
206
207 //ApplyLinearVelocityDrag
208 void Body::ApplyLinearVelocityDrag(double dragCoef)
209 {
210 const dReal *temp;
211 double fX;
212 double fY;
213 double fZ;
214 temp = dBodyGetLinearVel(this->_id);
215 fX = temp[0]*dragCoef*-1;
216 fY = temp[1]*dragCoef*-1;
217 fZ = temp[2]*dragCoef*-1;
218 dBodyAddForce(this->_id, fX, fY, fZ);
219 }
220
221
222 //ApplyAngularVelocityDrag
223 void Body::ApplyAngularVelocityDrag(double dragCoef)
224 {
225 const dReal *temp;
226 double fX;
227 double fY;
228 double fZ;
229 temp = dBodyGetAngularVel(this->_id);
230 fX = temp[0]*dragCoef*-1;
231 fY = temp[1]*dragCoef*-1;
232 fZ = temp[2]*dragCoef*-1;
233 dBodyAddTorque(this->_id, fX, fY, fZ);
234 }
235
236
237 //AddTorque
238 void Body::AddTorque(double fX, double fY, double fZ)
239 {
240 dBodyAddTorque(this->_id, fX, fY, fZ);
241 }
242
243
244 //AddRelTorque
245 void Body::AddRelTorque(double fX, double fY, double fZ)
246 {
247 dBodyAddRelTorque(this->_id, fX,fY,fZ);
248 }
249
250
251 //SetLinearVelocity
252 void Body::SetLinearVelocity(double x, double y, double z)
253 {
254 dBodySetLinearVel(this->_id, x, y, z);
255 }
256
257
258 //GetLinearVelocity
259 Vector3 Body::GetLinearVelocity(void)
260 {
261 Vector3 retVal;
262 const dReal *temp;
263 temp = dBodyGetLinearVel(this->_id);
264 retVal.x = temp[0];
265 retVal.y = temp[1];
266 retVal.z = temp[2];
267 return retVal;
268 }
269
270
271 //SetAngularVelocity
272 void Body::SetAngularVelocity(double x, double y, double z)
273 {
274 dBodySetAngularVel(this->_id, x, y, z);
275 }
276
277 //GetAngularVelocity
278 Vector3 Body::GetAngularVelocity(void)
279 {
280 Vector3 retVal;
281 const dReal *temp;
282 temp = dBodyGetAngularVel(this->_id);
283 retVal.x = temp[0];
284 retVal.y = temp[1];
285 retVal.z = temp[2];
286 return retVal;
287 }
288
289
290 //GetRelPointPos
291 Vector3 Body::GetRelPointPos(double pX, double pY, double pZ)
292 {
293 Vector3 retVal;
294 dVector3 temp;
295 dBodyGetRelPointPos(this->_id, pX, pY, pZ, temp);
296 retVal.x = temp[0];
297 retVal.y = temp[1];
298 retVal.z = temp[2];
299 return retVal;
300 }
301
302
303 //GetRelPointVel
304 Vector3 Body::GetRelPointVel(double pX, double pY, double pZ)
305 {
306 Vector3 retVal;
307 dVector3 temp;
308 dBodyGetRelPointVel(this->_id, pX, pY, pZ, temp);
309 retVal.x = temp[0];
310 retVal.y = temp[1];
311 retVal.z = temp[2];
312 return retVal;
313 }
314
315
316 //ConnectedTo
317 int Body::ConnectedTo(const Body &b)
318 {
319 return dAreConnected(this->_id, b._id);
320 }
321
322}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Body.h b/libraries/ode-0.9/contrib/DotNetManaged/Body.h
new file mode 100644
index 0000000..9347c17
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Body.h
@@ -0,0 +1,76 @@
1#pragma once
2
3#include "World.h"
4#include "CommonMgd.h"
5
6namespace ODEManaged
7{
8 __gc public class Body
9 {
10 public:
11
12 //Constructors and Destructors
13
14 Body(void);
15 Body(World &world);
16
17 ~Body(void);
18
19
20 //Public Methods
21
22 dBodyID Id();
23 void SetData (void *data);
24 void *GetData (void);
25
26 //POSITION
27 void SetPosition(double x, double y, double z);
28 Vector3 GetPosition(void);
29 void GetPosition(double position __gc[]);
30
31 //ROTATION
32 void SetRotationIdentity(void);
33 void SetRotation(Matrix3 rotation);
34 Matrix3 GetRotation(void);
35
36 //MASS
37 void SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia);
38 void SetMassSphere(double density, double radius);
39 void SetMassBox(double density, double sideX, double sideY, double sideZ);
40 void SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength);
41
42 //FORCE AND TORQUE
43 void AddForce(double fX, double fY, double fZ);
44 void AddRelForce(double fX, double fY, double fZ);
45 void AddForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
46 void AddRelForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
47 void AddRelForceAtRelPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
48 void ApplyLinearVelocityDrag(double dragCoef);
49 void ApplyAngularVelocityDrag(double dragCoef);
50
51
52 void AddTorque(double fX, double fY, double fZ);
53 void AddRelTorque(double fX, double fY, double fZ);
54
55 //LINEAR VELOCITY
56 void SetLinearVelocity (double x, double y, double z);
57 Vector3 GetLinearVelocity(void);
58
59 //ANGULAR VELOCITY
60 void SetAngularVelocity (double x, double y, double z);
61 Vector3 GetAngularVelocity(void);
62
63 //POINT
64 Vector3 GetRelPointPos(double pX, double pY, double pZ);
65 Vector3 GetRelPointVel(double pX, double pY, double pZ);
66
67 //CONNECTED TO
68 int ConnectedTo (const Body &b);
69
70 private:
71
72 dBodyID _id;
73
74 };
75}
76
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/CommonMgd.h b/libraries/ode-0.9/contrib/DotNetManaged/CommonMgd.h
new file mode 100644
index 0000000..143397d
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/CommonMgd.h
@@ -0,0 +1,43 @@
1#pragma once
2
3namespace ODEManaged
4{
5
6 __value public struct Vector3
7 {
8 double x;
9 double y;
10 double z;
11 };
12
13
14 __value public struct Vector4
15 {
16 double W;
17 double x;
18 double y;
19 double z;
20 };
21
22
23 __value public struct Matrix3
24 {
25 double m11;
26 double m12;
27 double m13;
28 double m21;
29 double m22;
30 double m23;
31 double m31;
32 double m32;
33 double m33;
34 };
35
36 //__value public struct NearCallback
37 //{
38 // void *data;
39 // dGeomID o1;
40 // dGeomID o2;
41 //};
42
43} \ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.sln b/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.sln
new file mode 100644
index 0000000..2694a26
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.sln
@@ -0,0 +1,21 @@
1Microsoft Visual Studio Solution File, Format Version 7.00
2Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DotNetManaged", "DotNetManaged.vcproj", "{4B75AC19-971A-4CC6-A4F5-0695C9F8562F}"
3EndProject
4Global
5 GlobalSection(SolutionConfiguration) = preSolution
6 ConfigName.0 = Debug
7 ConfigName.1 = Release
8 EndGlobalSection
9 GlobalSection(ProjectDependencies) = postSolution
10 EndGlobalSection
11 GlobalSection(ProjectConfiguration) = postSolution
12 {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Debug.ActiveCfg = Debug|Win32
13 {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Debug.Build.0 = Debug|Win32
14 {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Release.ActiveCfg = Release|Win32
15 {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Release.Build.0 = Release|Win32
16 EndGlobalSection
17 GlobalSection(ExtensibilityGlobals) = postSolution
18 EndGlobalSection
19 GlobalSection(ExtensibilityAddIns) = postSolution
20 EndGlobalSection
21EndGlobal
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.vcproj b/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.vcproj
new file mode 100644
index 0000000..2f5bb6c
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.vcproj
@@ -0,0 +1,379 @@
1<?xml version="1.0" encoding = "Windows-1252"?>
2<VisualStudioProject
3 ProjectType="Visual C++"
4 Version="7.00"
5 Name="DotNetManaged"
6 ProjectGUID="{4B75AC19-971A-4CC6-A4F5-0695C9F8562F}"
7 Keyword="ManagedCProj">
8 <Platforms>
9 <Platform
10 Name="Win32"/>
11 </Platforms>
12 <Configurations>
13 <Configuration
14 Name="Debug|Win32"
15 OutputDirectory="Debug"
16 IntermediateDirectory="Debug"
17 ConfigurationType="2"
18 CharacterSet="2"
19 ManagedExtensions="TRUE">
20 <Tool
21 Name="VCCLCompilerTool"
22 Optimization="2"
23 AdditionalIncludeDirectories="&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Contrib\tri-collider&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\ODE\Src&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\ODE&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Include&quot;"
24 PreprocessorDefinitions="WIN32;_DEBUG"
25 MinimalRebuild="FALSE"
26 BasicRuntimeChecks="0"
27 RuntimeLibrary="1"
28 WarningLevel="3"
29 DebugInformationFormat="3"/>
30 <Tool
31 Name="VCCustomBuildTool"/>
32 <Tool
33 Name="VCLinkerTool"
34 OutputFile="$(OutDir)/DotNetManaged.exe"
35 LinkIncremental="2"
36 GenerateDebugInformation="TRUE"/>
37 <Tool
38 Name="VCMIDLTool"/>
39 <Tool
40 Name="VCPostBuildEventTool"/>
41 <Tool
42 Name="VCPreBuildEventTool"/>
43 <Tool
44 Name="VCPreLinkEventTool"/>
45 <Tool
46 Name="VCResourceCompilerTool"/>
47 <Tool
48 Name="VCWebServiceProxyGeneratorTool"/>
49 <Tool
50 Name="VCWebDeploymentTool"/>
51 </Configuration>
52 <Configuration
53 Name="Release|Win32"
54 OutputDirectory="Release"
55 IntermediateDirectory="Release"
56 ConfigurationType="2"
57 CharacterSet="2"
58 ManagedExtensions="TRUE"
59 WholeProgramOptimization="FALSE">
60 <Tool
61 Name="VCCLCompilerTool"
62 Optimization="2"
63 InlineFunctionExpansion="0"
64 OmitFramePointers="TRUE"
65 AdditionalIncludeDirectories="&quot;F:\Documents and Settings\Visual Studio Projects\ODE&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Contrib\DotNetManaged\odeOLd&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Include&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Include\ODE&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\ODE\Src&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Contrib\tri-collider&quot;"
66 PreprocessorDefinitions="WIN32;NDEBUG"
67 MinimalRebuild="FALSE"
68 WarningLevel="3"
69 DebugInformationFormat="3"/>
70 <Tool
71 Name="VCCustomBuildTool"/>
72 <Tool
73 Name="VCLinkerTool"
74 OutputFile="$(OutDir)/ode.dll"
75 SuppressStartupBanner="TRUE"
76 GenerateDebugInformation="FALSE"/>
77 <Tool
78 Name="VCMIDLTool"/>
79 <Tool
80 Name="VCPostBuildEventTool"/>
81 <Tool
82 Name="VCPreBuildEventTool"/>
83 <Tool
84 Name="VCPreLinkEventTool"/>
85 <Tool
86 Name="VCResourceCompilerTool"/>
87 <Tool
88 Name="VCWebServiceProxyGeneratorTool"/>
89 <Tool
90 Name="VCWebDeploymentTool"/>
91 </Configuration>
92 </Configurations>
93 <Files>
94 <Filter
95 Name="Source Files"
96 Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm">
97 <File
98 RelativePath="..\..\ODE\Src\array.cpp">
99 </File>
100 <File
101 RelativePath="..\..\ODE\Src\error.cpp">
102 </File>
103 <File
104 RelativePath="..\..\ODE\Src\fastdot.c">
105 </File>
106 <File
107 RelativePath="..\..\ODE\Src\fastldlt.c">
108 </File>
109 <File
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diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp
new file mode 100644
index 0000000..3655466
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp
@@ -0,0 +1,219 @@
1
2#include "StdAfx.h"
3
4#include <ode/ode.h>
5#include "Geom.h"
6
7
8namespace ODEManaged
9{
10
11 //Constructors
12
13 Geom::Geom(void)
14 {
15 _id = 0;
16 }
17
18
19 //Destructor
20
21 Geom::~Geom(void)
22 {
23 dGeomDestroy(this->_id);
24 }
25
26
27 //Methods
28
29 //Id
30 dGeomID Geom::Id(void)
31 {
32 return _id;
33 }
34
35
36 //GetBody
37 dBodyID Geom::GetBody(void)
38 {
39 return dGeomGetBody(this->_id);
40 }
41
42
43 //Overloaded SetBody
44 void Geom::SetBody(Body &body)
45 {
46 dGeomSetBody(this->_id, body.Id());
47 }
48
49 //void Geom::SetBody(dBodyID b)
50 //{
51 // dGeomSetBody(this->_id, b);
52 //}
53
54
55 //SetPosition
56 void Geom::SetPosition(double x, double y, double z)
57 {
58 dGeomSetPosition(this->_id, x, y, z);
59 }
60
61
62 //SetRotation
63 void Geom::SetRotation(Matrix3 rotation)
64 {
65 dMatrix3 temp;
66 temp[0] = rotation.m11;
67 temp[4] = rotation.m12;
68 temp[8] = rotation.m13;
69 temp[1] = rotation.m21;
70 temp[5] = rotation.m22;
71 temp[9] = rotation.m23;
72 temp[2] = rotation.m31;
73 temp[6] = rotation.m32;
74 temp[10] = rotation.m33;
75 dGeomSetRotation(_id, temp);
76 }
77
78
79 //Destroy
80 void Geom::Destroy()
81 {
82 if(this->_id) dGeomDestroy(this->_id);
83 _id = 0;
84 }
85
86
87 //SetData
88 void Geom::SetData(void *data)
89 {
90 dGeomSetData(this->_id, data);
91 }
92
93
94 //GetData
95 void *Geom::GetData(void)
96 {
97 return dGeomGetData(this->_id);
98 }
99
100
101 //GetPosition
102 Vector3 Geom::GetPosition(void)
103 {
104 Vector3 retVal;
105 const dReal *temp;
106 temp = dGeomGetPosition(this->_id);
107 retVal.x = temp[0];
108 retVal.y = temp[1];
109 retVal.z = temp[2];
110 return retVal;
111 }
112
113
114 //GetRotation (left handed system=>transpose)
115 Matrix3 Geom::GetRotation(void)
116 {
117 Matrix3 retVal;
118 const dReal *temp;
119 temp = dGeomGetRotation(this->_id);
120 retVal.m11 = temp[0];
121 retVal.m12 = temp[4];
122 retVal.m13 = temp[8];
123 retVal.m21 = temp[1];
124 retVal.m22 = temp[5];
125 retVal.m23 = temp[9];
126 retVal.m31 = temp[2];
127 retVal.m32 = temp[6];
128 retVal.m33 = temp[10];
129 return retVal;
130 }
131
132
133 //CreateSphere
134 void Geom::CreateSphere(Space &space, double radius)
135 {
136 if(this->_id) dGeomDestroy(this->_id);
137 _id = dCreateSphere(space.Id(), radius);
138 }
139
140
141 //CreateBox
142 void Geom::CreateBox(Space &space, double lx, double ly, double lz)
143 {
144 if(this->_id) dGeomDestroy(this->_id);
145 _id = dCreateBox(space.Id(), lx, ly, lz);
146 }
147
148
149 //CreatePlane
150 void Geom::CreatePlane(Space &space, double a, double b, double c, double d)
151 {
152 if(this->_id) dGeomDestroy(this->_id);
153 _id = dCreatePlane(space.Id(), a, b, c, d);
154 }
155
156
157 //CreateCCylinder
158 void Geom::CreateCCylinder(Space &space, double radius, double length)
159 {
160 if(this->_id) dGeomDestroy(this->_id);
161 _id = dCreateCCylinder(space.Id(), radius, length);
162 }
163
164
165 //SphereGetRadius
166 double Geom::SphereGetRadius(void)
167 {
168 return dGeomSphereGetRadius(this->_id);
169 }
170
171
172 //BoxGetLengths
173 Vector3 Geom::BoxGetLengths(void)
174 {
175 Vector3 retVal;
176 dVector3 temp;
177 dGeomBoxGetLengths(this->_id, temp);
178 retVal.x = temp[0];
179 retVal.y = temp[1];
180 retVal.z = temp[2];
181 return retVal;
182 }
183
184
185 //PlaneGetParams
186 Vector4 Geom::PlaneGetParams(void)
187 {
188 Vector4 retVal;
189 dVector4 temp;
190 dGeomPlaneGetParams(this->_id, temp);
191 retVal.W = temp[0];
192 retVal.x = temp[1];
193 retVal.y = temp[2];
194 retVal.z = temp[3];
195 return retVal;
196 }
197
198
199 //CCylinderGetParams
200 void Geom::CCylinderGetParams(double *radius, double *length)
201 {
202 dGeomCCylinderGetParams(this->_id, radius, length);
203 }
204
205
206 //GetClass
207 int Geom::GetClass(void)
208 {
209 return dGeomGetClass(this->_id);
210 }
211
212}
213
214
215
216
217
218
219
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Geom.h b/libraries/ode-0.9/contrib/DotNetManaged/Geom.h
new file mode 100644
index 0000000..83a6faf
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Geom.h
@@ -0,0 +1,75 @@
1#pragma once
2
3#include "Body.h"
4#include "Space.h"
5#include "CommonMgd.h"
6
7namespace ODEManaged
8{
9 __gc public class Geom
10 {
11 public:
12
13
14 //Constructor
15
16 Geom (void);
17
18
19 //Destructor
20
21 ~Geom (void);
22
23
24 //Methods
25
26 //Basic Stuff
27
28 dGeomID Id (void);
29 dBodyID GetBody (void);
30
31 //Overloaded SetBody
32 void SetBody (Body &body);
33 /*void SetBody (dBodyID b);*/
34
35 Vector3 GetPosition (void);
36 void SetPosition (double x, double y, double z);
37
38 Matrix3 GetRotation (void);
39 void SetRotation (Matrix3 rotation);
40
41 void SetData (void *data);
42 void *GetData (void);
43
44
45 //Create Objects
46
47 void CreateSphere (Space &space, double radius);
48 void CreateBox (Space &space, double lx, double ly, double lz);
49 void CreatePlane (Space &space, double a, double b, double c, double d);
50 void CreateCCylinder (Space &space, double radius, double length);
51
52
53 //Destroy Objects
54
55 void Destroy (void);
56
57
58 //Get Object's Parameters
59
60 double SphereGetRadius (void);
61 Vector3 BoxGetLengths (void);
62 Vector4 PlaneGetParams (void);
63 void CCylinderGetParams (double *radius, double *length);
64 int GetClass (void);
65
66
67 //Properties
68
69 private:
70
71 dGeomID _id;
72
73 };
74
75}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Joint.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Joint.cpp
new file mode 100644
index 0000000..e2d8de6
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Joint.cpp
@@ -0,0 +1,35 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "joint.h"
5#include "CommonMgd.h"
6#include "world.h"
7
8namespace ODEManaged
9{
10
11 //Constructor
12
13 Joint::Joint(void)
14 {
15 _id=0;
16 }
17
18
19 //Destructor
20
21 Joint::~Joint(void)
22 {
23 dJointDestroy(this->_id);
24 }
25
26
27 //Methods
28
29 //Id
30 dJointID Joint::Id(void)
31 {
32 return _id;
33 }
34
35}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Joint.h b/libraries/ode-0.9/contrib/DotNetManaged/Joint.h
new file mode 100644
index 0000000..d9ab254
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Joint.h
@@ -0,0 +1,21 @@
1#pragma once
2
3#include "JointGroup.h"
4#include "World.h"
5#include "Body.h"
6
7namespace ODEManaged
8{
9 __gc public class Joint
10 {
11 protected:
12 //Constructor and Destructor Defenition
13 Joint(void);
14 ~Joint(void);
15
16 //Public Methods
17 dJointID Id(void);
18
19 dJointID _id;
20 };
21}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp
new file mode 100644
index 0000000..c5a4543
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp
@@ -0,0 +1,162 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "JointAMotor.h"
5
6namespace ODEManaged
7{
8
9 //Constructors
10
11 JointAMotor::JointAMotor(void) : Joint(){}
12
13
14 JointAMotor::JointAMotor(World &world)
15 {
16 if(this->_id) dJointDestroy(this->_id);
17 _id = dJointCreateAMotor(world.Id(), 0);
18 }
19
20
21 JointAMotor::JointAMotor(World &world, JointGroup &jointGroup)
22 {
23 if(this->_id) dJointDestroy(this->_id);
24 _id = dJointCreateAMotor(world.Id(), jointGroup.Id());
25 }
26
27
28 //Destructor
29
30 JointAMotor::~JointAMotor(void){}
31
32
33 //Methods
34
35 //Overloaded Create
36 void JointAMotor::Create(World &world, JointGroup &jointGroup)
37 {
38 if(this->_id) dJointDestroy(this->_id);
39 _id = dJointCreateAMotor(world.Id(), jointGroup.Id());
40 }
41
42 void JointAMotor::Create(World &world)
43 {
44 if(this->_id) dJointDestroy(this->_id);
45 _id = dJointCreateAMotor(world.Id(), 0);
46 }
47
48
49 //Overloaded Attach
50 void JointAMotor::Attach(Body &body1, Body &body2)
51 {
52 dJointAttach(this->_id, body1.Id(), body2.Id());
53 }
54
55 void JointAMotor::Attach(Body &body1)
56 {
57 dJointAttach(this->_id, body1.Id(), 0);
58 }
59
60
61 //SetNumAxes
62
63 void JointAMotor::SetNumAxes(int num)
64 {
65 dJointSetAMotorNumAxes(this->_id, num);
66 }
67
68
69 //GetNumAxes
70
71 int JointAMotor::GetNumAxes(void)
72 {
73 return dJointGetAMotorNumAxes(this->_id);
74 }
75
76
77 //SetAxis
78
79 void JointAMotor::SetAxis(int anum, int rel, double x, double y ,double z)
80 {
81 dJointSetAMotorAxis(this->_id, anum, rel, x, y, z);
82 }
83
84
85 //GetAxis
86
87 Vector3 JointAMotor::GetAxis(int anum)
88 {
89 Vector3 retVal;
90 dVector3 temp;
91 dJointGetAMotorAxis(this->_id, anum, temp);
92 retVal.x = temp[0];
93 retVal.y = temp[1];
94 retVal.z = temp[2];
95 return retVal;
96 }
97
98
99 //SetAngle
100
101 void JointAMotor::SetAngle(int anum, double angle)
102 {
103 dJointSetAMotorAngle(this->_id, anum, angle);
104 }
105
106
107 //GetAngle
108
109 double JointAMotor::GetAngle(int anum)
110 {
111 return dJointGetAMotorAngle(this->_id, anum);
112 }
113
114
115 //SetParam
116
117 void JointAMotor::SetParam(int parameter, double value)
118 {
119 dJointSetAMotorParam(this->_id, parameter, value);
120 }
121
122
123 //GetParam
124
125 double JointAMotor::GetParam(int parameter)
126 {
127 return dJointGetAMotorParam(this->_id, parameter);
128 }
129
130
131 //SetMode
132
133 void JointAMotor::SetMode(int mode)
134 {
135 dJointSetAMotorMode(this->_id, mode);
136 }
137
138
139 //GetMode
140
141 int JointAMotor::GetMode(void)
142 {
143 return dJointGetAMotorMode(this->_id);
144 }
145
146
147 //GetAxisRel
148
149 int JointAMotor::GetAxisRel(int anum)
150 {
151 return dJointGetAMotorAxisRel(this->_id, anum);
152 }
153
154
155 //GetAngleRate
156
157 double JointAMotor::GetAngleRate(int anum)
158 {
159 return dJointGetAMotorAngleRate(this->_id, anum);
160 }
161
162}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.h b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.h
new file mode 100644
index 0000000..aa3ca4b
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.h
@@ -0,0 +1,62 @@
1#pragma once
2
3#include "Joint.h"
4
5namespace ODEManaged
6{
7 __gc public class JointAMotor : public Joint
8 {
9 public:
10
11
12 //Constructors
13
14 JointAMotor (void);
15 JointAMotor (World &world);
16 JointAMotor (World &world, JointGroup &jointGroup);
17
18
19 //Destructor
20
21 virtual ~JointAMotor (void);
22
23
24 //Methods
25
26 //Basic Stuff
27
28 //Overloaded Create
29 void Create (World &world, JointGroup &jointGroup);
30 void Create (World &world);
31
32 void SetNumAxes (int num);
33 int GetNumAxes (void);
34
35 void SetAxis (int anum, int rel, double x, double y, double z);
36 Vector3 GetAxis (int anum);
37
38 void SetAngle (int anum, double angle);
39 double GetAngle (int anum);
40
41 void SetMode (int mode);
42 int GetMode (void);
43
44 int GetAxisRel (int anum);
45 double GetAngleRate (int anum);
46
47 //Overloaded Attach
48 void Attach (Body &body1, Body &body2);
49 void Attach (Body &body1);
50
51
52 //Movement Parameters
53
54 void SetParam (int parameter, double value);
55 double GetParam (int parameter);
56
57
58
59
60
61 };
62}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp
new file mode 100644
index 0000000..d9336c9
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp
@@ -0,0 +1,79 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "jointball.h"
5
6namespace ODEManaged
7{
8
9 //Constructors
10
11 JointBall::JointBall(void) : Joint(){}
12
13
14 JointBall::JointBall(World &world)
15 {
16 if(this->_id) dJointDestroy(this->_id);
17 _id = dJointCreateBall(world.Id(), 0);
18 }
19
20
21 JointBall::JointBall(World &world, JointGroup &jointGroup)
22 {
23 if(this->_id) dJointDestroy(this->_id);
24 _id = dJointCreateBall(world.Id(), jointGroup.Id());
25 }
26
27
28 //Destructor
29
30 JointBall::~JointBall(void){}
31
32
33 //Methods
34
35 //Overloaded Create
36 void JointBall::Create(World &world, JointGroup &jointGroup)
37 {
38 if(this->_id) dJointDestroy(this->_id);
39 _id = dJointCreateBall(world.Id(), jointGroup.Id());
40 }
41
42 void JointBall::Create(World &world)
43 {
44 if(this->_id) dJointDestroy(this->_id);
45 _id = dJointCreateBall(world.Id(), 0);
46 }
47
48
49 //Overloaded Attach
50 void JointBall::Attach(Body &body1, Body &body2)
51 {
52 dJointAttach(this->_id, body1.Id(), body2.Id());
53 }
54
55 void JointBall::Attach(Body &body1)
56 {
57 dJointAttach(this->_id, body1.Id(), 0);
58 }
59
60
61 //SetAnchor
62 void JointBall::SetAnchor(double x, double y ,double z)
63 {
64 dJointSetBallAnchor(this->_id, x, y, z);
65 }
66
67 //GetAnchor
68 Vector3 JointBall::GetAnchor(void)
69 {
70 Vector3 retVal;
71 dVector3 temp;
72 dJointGetBallAnchor(this->_id,temp);
73 retVal.x = temp[0];
74 retVal.y = temp[1];
75 retVal.z = temp[2];
76 return retVal;
77 }
78
79}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointBall.h b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.h
new file mode 100644
index 0000000..2355bdd
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.h
@@ -0,0 +1,38 @@
1#pragma once
2
3#include "Joint.h"
4
5namespace ODEManaged
6{
7 __gc public class JointBall : public Joint
8 {
9 public:
10
11 //Constructors
12
13 JointBall(void);
14 JointBall(World &world);
15 JointBall(World &world, JointGroup &jointGroup);
16
17
18 //Destructors
19
20 virtual ~JointBall(void);
21
22
23 //Methods
24
25 //Overloaded Create
26 void Create(World &world, JointGroup &jointGroup);
27 void Create(World &world);
28
29 //Overloaded Attach
30 void Attach(Body &body1, Body &body2);
31 void Attach(Body &body1);
32
33 void SetAnchor(double x, double y, double z);
34 Vector3 GetAnchor(void);
35
36 };
37
38}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.cpp
new file mode 100644
index 0000000..afe9222
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.cpp
@@ -0,0 +1,67 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "jointfixed.h"
5
6namespace ODEManaged
7{
8
9 //Constructors
10
11 JointFixed::JointFixed(void) : Joint(){}
12
13
14 JointFixed::JointFixed(World &world)
15 {
16 if(this->_id) dJointDestroy(this->_id);
17 _id = dJointCreateFixed(world.Id(),0);
18 }
19
20
21 JointFixed::JointFixed(World &world, JointGroup &jointGroup)
22 {
23 if(this->_id) dJointDestroy(this->_id);
24 _id = dJointCreateFixed(world.Id(), jointGroup.Id());
25 }
26
27
28 //Destructor
29
30 JointFixed::~JointFixed(void){}
31
32
33 //Methods
34
35 //Overloaded Create
36 void JointFixed::Create(World &world, JointGroup &jointGroup)
37 {
38 if(this->_id) dJointDestroy(this->_id);
39 _id = dJointCreateFixed(world.Id(), jointGroup.Id());
40 }
41
42 void JointFixed::Create(World &world)
43 {
44 if(this->_id) dJointDestroy(this->_id);
45 _id = dJointCreateFixed(world.Id(), 0);
46 }
47
48
49 //Overloaded Attach
50 void JointFixed::Attach(Body &body1, Body &body2)
51 {
52 dJointAttach(this->_id, body1.Id(), body2.Id());
53 }
54
55 void JointFixed::Attach(Body &body1)
56 {
57 dJointAttach(this->_id, body1.Id(), 0);
58 }
59
60
61 //Fixed
62 void JointFixed::SetFixed(void)
63 {
64 dJointSetFixed(this->_id);
65 }
66
67}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.h b/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.h
new file mode 100644
index 0000000..5ca50dc
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.h
@@ -0,0 +1,37 @@
1#pragma once
2
3#include "Joint.h"
4
5namespace ODEManaged
6{
7 __gc public class JointFixed : public Joint
8 {
9 public:
10
11 //Constructors
12
13 JointFixed(void);
14 JointFixed(World &world);
15 JointFixed(World &world, JointGroup &jointGroup);
16
17
18 //Destructor
19
20 virtual ~JointFixed(void);
21
22
23 //Methods
24
25 //Overloaded Create
26 void Create(World &world, JointGroup &jointGroup);
27 void Create(World &world);
28
29 //Overloaded Attach
30 void Attach(Body &body1, Body &body2);
31 void Attach(Body &body1);
32
33 void SetFixed(void);
34
35 };
36
37}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.cpp
new file mode 100644
index 0000000..925751f
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.cpp
@@ -0,0 +1,53 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "jointgroup.h"
5
6namespace ODEManaged
7{
8
9 //Constructors
10
11 JointGroup::JointGroup(void)
12 {
13 _id=0;
14 }
15
16 JointGroup::JointGroup (int maxSize)
17 {
18 _id = dJointGroupCreate(maxSize);
19 }
20
21
22 //Destructor
23
24 JointGroup::~JointGroup(void)
25 {
26 dJointGroupDestroy(this->_id);
27 }
28
29
30 //Methods
31
32 //ID
33 dJointGroupID JointGroup::Id()
34 {
35 return _id;
36 }
37
38
39 //Create
40 void JointGroup::Create (int maxSize)
41 {
42 if(_id) dJointGroupDestroy(_id);
43 _id = dJointGroupCreate(maxSize);
44 }
45
46
47 //Empty
48 void JointGroup::Empty (void)
49 {
50 dJointGroupEmpty(this->_id);
51 }
52
53}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.h b/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.h
new file mode 100644
index 0000000..b62ced0
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.h
@@ -0,0 +1,33 @@
1#pragma once
2
3namespace ODEManaged
4{
5 __gc public class JointGroup
6 {
7 public:
8
9 //Constructors
10
11 JointGroup(void);
12 JointGroup(int maxSize);
13
14
15 //Destructor
16
17 ~JointGroup(void);
18
19
20 //Methods
21
22 dJointGroupID Id(void);
23 void Create(int maxSize);
24 void Empty(void);
25
26
27 private:
28
29 dJointGroupID _id;
30
31 };
32
33}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp
new file mode 100644
index 0000000..85d420b
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp
@@ -0,0 +1,121 @@
1#include "stdafx.h"
2
3#include <ode/ode.h>
4#include "jointhinge.h"
5
6namespace ODEManaged
7{
8
9 //Constructors
10
11 JointHinge::JointHinge(void) : Joint(){}
12
13
14 JointHinge::JointHinge(World &world)
15 {
16 if(this->_id) dJointDestroy(this->_id);
17 _id = dJointCreateHinge(world.Id(), 0);
18 }
19
20
21 JointHinge::JointHinge(World &world, JointGroup &jointGroup)
22 {
23 if(this->_id) dJointDestroy(this->_id);
24 _id = dJointCreateHinge(world.Id(), jointGroup.Id());
25 }
26
27
28 //Destructor
29
30 JointHinge::~JointHinge(void){}
31
32
33 //Methods
34
35 //Overloaded Create
36 void JointHinge::Create(World &world, JointGroup &jointGroup)
37 {
38 if(this->_id) dJointDestroy(this->_id);
39 _id = dJointCreateHinge(world.Id(), jointGroup.Id());
40 }
41
42 void JointHinge::Create(World &world)
43 {
44 if(this->_id) dJointDestroy(this->_id);
45 _id = dJointCreateHinge(world.Id(), 0);
46 }
47
48
49 //Overloaded Attach
50 void JointHinge::Attach(Body &body1, Body &body2)
51 {
52 dJointAttach(this->_id, body1.Id(), body2.Id());
53 }
54
55 void JointHinge::Attach(Body &body1)
56 {
57 dJointAttach(this->_id, body1.Id(), 0);
58 }
59
60
61 //SetAxis
62 void JointHinge::SetAxis(double x, double y, double z)
63 {
64 dJointSetHingeAxis(this->_id, x, y, z);
65 }
66
67 //GetAxis
68 Vector3 JointHinge::GetAxis(void)
69 {
70 Vector3 retVal;
71 dVector3 temp;
72 dJointGetHingeAxis(this->_id, temp);
73 retVal.x = temp[0];
74 retVal.y = temp[1];
75 retVal.z = temp[2];
76 return retVal;
77 }
78
79
80 //SetAnchor
81 void JointHinge::SetAnchor(double x, double y, double z)
82 {
83 dJointSetHingeAnchor(this->_id, x, y, z);
84 }
85
86 //GetAnchor
87 Vector3 JointHinge::GetAnchor(void)
88 {
89 Vector3 retVal;
90 dVector3 temp;
91 dJointGetHingeAnchor(this->_id, temp);
92 retVal.x = temp[0];
93 retVal.y = temp[1];
94 retVal.z = temp[2];
95 return retVal;
96 }
97
98
99 //Movement Parameters
100
101 //SetAllMovParams
102 void JointHinge::SetAllMovParams(double LoStop, double HiStop,
103 double Velocity, double MaxForce,
104 double FudgeFactor, double Bounce,
105 double StopERP, double StopCFM)
106 {
107 if (LoStop > -3.141592653 && LoStop <= 0)
108 dJointSetHingeParam(this->_id, dParamLoStop, LoStop);
109
110 if (HiStop < 3.141592653 && HiStop >= 0)
111 dJointSetHingeParam(this->_id, dParamHiStop, HiStop);
112
113 dJointSetHingeParam(this->_id, dParamVel, Velocity);
114 dJointSetHingeParam(this->_id, dParamFMax, MaxForce);
115 dJointSetHingeParam(this->_id, dParamFudgeFactor, FudgeFactor);
116 dJointSetHingeParam(this->_id, dParamBounce, Bounce);
117 dJointSetHingeParam(this->_id, dParamStopERP, StopERP);
118 dJointSetHingeParam(this->_id, dParamStopCFM, StopCFM);
119 }
120
121}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h
new file mode 100644
index 0000000..3115845
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h
@@ -0,0 +1,195 @@
1#pragma once
2
3#include "Joint.h"
4#include "CommonMgd.h"
5
6namespace ODEManaged
7{
8 __gc public class JointHinge : public Joint
9 {
10 public:
11
12 //Constructors
13
14 JointHinge(void);
15 JointHinge(World &world);
16 JointHinge(World &world, JointGroup &jointGroup);
17
18
19 //Destructor
20
21 virtual~JointHinge(void);
22
23
24 //Methods
25
26 //Overloaded Create
27 void Create(World &world, JointGroup &jointGroup);
28 void Create(World &world);
29
30 //Overloaded Attach
31 void Attach(Body &body1, Body &body2);
32 void Attach(Body &body1);
33
34 void SetAnchor(double x, double y, double z);
35 Vector3 GetAnchor(void);
36
37 void SetAxis(double x, double y, double z);
38 Vector3 GetAxis(void);
39
40 void SetAllMovParams(double LoStop, double HiStop,
41 double Velocity, double MaxForce,
42 double FudgeFactor, double Bounce,
43 double StopERP, double StopCFM);
44
45
46 //Properties
47
48 //LoStop
49 __property double get_LoStop(void)
50 {
51 return dJointGetHingeParam(this->_id, dParamLoStop);
52 }
53
54 __property void set_LoStop(double value)
55 {
56 if (value > -3.141592653 && value <= 0)
57 dJointSetHingeParam(this->_id, dParamLoStop, value);
58 }
59
60
61 //HiStop
62 __property double get_HiStop(void)
63 {
64 return dJointGetHingeParam(this->_id, dParamHiStop);
65 }
66
67 __property void set_HiStop(double value)
68 {
69 if (value < 3.141592653 && value >= 0)
70 dJointSetHingeParam(this->_id, dParamHiStop, value);
71 }
72
73
74 //Velocity
75 __property double get_Velocity(void)
76 {
77 return dJointGetHingeParam(this->_id, dParamVel);
78 }
79
80 __property void set_Velocity(double value)
81 {
82 dJointSetHingeParam(this->_id, dParamVel, value);
83 }
84
85
86 //MaxForce
87 __property double get_MaxForce(void)
88 {
89 return dJointGetHingeParam(this->_id, dParamFMax);
90 }
91
92 __property void set_MaxForce(double value)
93 {
94 dJointSetHingeParam(this->_id, dParamFMax, value);
95 }
96
97
98 //FudgeFactor
99 __property double get_FudgeFactor(void)
100 {
101 return dJointGetHingeParam(this->_id, dParamFudgeFactor);
102 }
103
104 __property void set_FudgeFactor(double value)
105 {
106 dJointSetHingeParam(this->_id, dParamFudgeFactor, value);
107 }
108
109
110 //Bounce
111 __property double get_Bounce(void)
112 {
113 return dJointGetHingeParam(this->_id, dParamBounce);
114 }
115
116 __property void set_Bounce(double value)
117 {
118 dJointSetHingeParam(this->_id, dParamBounce, value);
119 }
120
121
122 //StopERP
123 __property double get_StopERP(void)
124 {
125 return dJointGetHingeParam(this->_id, dParamStopERP);
126 }
127
128 __property void set_StopERP(double value)
129 {
130 dJointSetHingeParam(this->_id, dParamStopERP, value);
131 }
132
133
134 //StopCFM
135 __property double get_StopCFM(void)
136 {
137 return dJointGetHingeParam(this->_id, dParamStopCFM);
138 }
139
140 __property void set_StopCFM(double value)
141 {
142 dJointSetHingeParam(this->_id, dParamStopCFM, value);
143 }
144
145
146 //GetAngle
147 __property double get_Angle(void)
148 {
149 return dJointGetHingeAngle(this->_id);
150 }
151
152
153 //GetAngleRate
154 __property double get_AngleRate(void)
155 {
156 return dJointGetHingeAngleRate(this->_id);
157 }
158
159 };
160
161}
162
163// void SetSuspensionERP(double value);
164// double GetSuspensionERP(void);
165
166// void SetSuspensionCFM(double value);
167// double GetSuspensionCFM(void);
168
169/*
170 //SetSuspensionERP
171 void JointHinge::SetSuspensionERP(double value)
172 {
173 dJointSetHingeParam(this->_id, dParamSuspensionERP, value);
174 }
175
176 //GetSuspensionERP
177 double JointHinge::GetSuspensionERP(void)
178 {
179 return dJointGetHingeParam(this->_id, dParamSuspensionERP);
180 }
181
182
183 //SetSuspensionCFM
184 void JointHinge::SetSuspensionCFM(double value)
185 {
186 dJointSetHingeParam(this->_id, dParamSuspensionCFM, value);
187 }
188
189 //GetSuspensionCFM
190 double JointHinge::GetSuspensionCFM(void)
191 {
192 return dJointGetHingeParam(this->_id, dParamSuspensionCFM);
193 }
194
195*/
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp
new file mode 100644
index 0000000..94fd7a7
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp
@@ -0,0 +1,133 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "jointhinge2.h"
5
6namespace ODEManaged
7{
8 //Constructors
9 JointHinge2::JointHinge2(void) : Joint(){}
10
11 JointHinge2::JointHinge2(World &world)
12 {
13 if(this->_id) dJointDestroy(this->_id);
14 _id = dJointCreateHinge2(world.Id(),0);
15 }
16
17 JointHinge2::JointHinge2(World &world, JointGroup &jointGroup)
18 {
19 if(this->_id) dJointDestroy(this->_id);
20 _id = dJointCreateHinge2(world.Id(), jointGroup.Id());
21 }
22
23 //Destructor
24 JointHinge2::~JointHinge2(void){}
25
26 //CreateHinge2 (overload 1)
27 void JointHinge2::Create(World &world, JointGroup &jointGroup)
28 {
29 if(this->_id) dJointDestroy(this->_id);
30 _id = dJointCreateHinge2(world.Id(), jointGroup.Id());
31 }
32
33 //CreateHinge2 (overload 2)
34 void JointHinge2::Create(World &world)
35 {
36 if(this->_id) dJointDestroy(this->_id);
37 _id = dJointCreateHinge2(world.Id(),0);
38 }
39
40 //SetAnchor1
41 void JointHinge2::SetAnchor (double x, double y ,double z)
42 {
43 dJointSetHinge2Anchor(_id, x,y,z);
44 }
45
46 //GetAnchor1
47 Vector3 JointHinge2::GetAnchor()
48 {
49 Vector3 retVal;
50 dVector3 temp;
51 dJointGetHinge2Anchor(_id,temp);
52 retVal.x = temp[0];
53 retVal.y = temp[1];
54 retVal.z = temp[2];
55 return retVal;
56 }
57
58 //SetAxis1
59 void JointHinge2::SetAxis1 (double x, double y ,double z)
60 {
61 dJointSetHinge2Axis1(_id, x,y,z);
62 }
63
64 //GetAxis1
65 Vector3 JointHinge2::GetAxis1()
66 {
67 Vector3 retVal;
68 dVector3 temp;
69 dJointGetHinge2Axis1(_id,temp);
70 retVal.x = temp[0];
71 retVal.y = temp[1];
72 retVal.z = temp[2];
73 return retVal;
74 }
75
76 //SetAxis2
77 void JointHinge2::SetAxis2 (double x, double y ,double z)
78 {
79 dJointSetHinge2Axis2(_id, x,y,z);
80 }
81
82 //GetAxis2
83 Vector3 JointHinge2::GetAxis2()
84 {
85 Vector3 retVal;
86 dVector3 temp;
87 dJointGetHinge2Axis2(_id,temp);
88 retVal.x = temp[0];
89 retVal.y = temp[1];
90 retVal.z = temp[2];
91 return retVal;
92 }
93
94 //GetAngle1
95 double JointHinge2::GetAngle1 ()
96 {
97 return dJointGetHinge2Angle1(this->_id);
98 }
99
100 //GetAngle1Rate
101 double JointHinge2::GetAngle1Rate ()
102 {
103 return dJointGetHinge2Angle1Rate(this->_id);
104 }
105
106 ////GetAngle hmm, this doesn't exist
107 //double JointHinge2::GetAngle2 ()
108 //{
109 // return dJointGetHinge2Angle2(this->_id);
110 //}
111
112 //GetAngle2Rate
113 double JointHinge2::GetAngle2Rate ()
114 {
115 return dJointGetHinge2Angle2Rate(this->_id);
116 }
117
118
119 //Attach (overload 1)
120 void JointHinge2::Attach (Body &body1, Body &body2)
121 {
122 dJointAttach(_id, body1.Id(),body2.Id());
123 }
124
125 //Attach (overload 2)
126 //TODO: possibly add an overload that takes anchor as a param also.
127 void JointHinge2::Attach (Body &body1)
128 {
129 dJointAttach(_id, body1.Id(),0);
130 }
131
132
133}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.h b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.h
new file mode 100644
index 0000000..e883ea8
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.h
@@ -0,0 +1,48 @@
1#pragma once
2
3#include "Joint.h"
4#include "CommonMgd.h"
5
6namespace ODEManaged
7{
8 __gc public class JointHinge2 : public Joint
9 {
10 public:
11
12
13 //Constructors
14
15 JointHinge2 (void);
16 JointHinge2 (World &world);
17 JointHinge2 (World &world, JointGroup &jointGroup);
18
19 //Destructors
20
21 virtual ~JointHinge2 (void);
22
23
24 //Methods
25
26 //Overloaded Hinge.Create
27 void Create (World &world, JointGroup &jointGroup);
28 void Create (World &world);
29
30 void SetAnchor (double x, double y, double z);
31 Vector3 GetAnchor (void);
32
33 void SetAxis1 (double x, double y, double z);
34 Vector3 GetAxis1 (void);
35
36 void SetAxis2 (double x, double y, double z);
37 Vector3 GetAxis2 (void);
38
39 double GetAngle1 (void);
40 double GetAngle1Rate (void);
41
42 //double GetAngle2 (void);
43 double GetAngle2Rate (void);
44
45 void Attach (Body &body1, Body &body2);
46 void Attach( Body &body1);
47 };
48}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp
new file mode 100644
index 0000000..ab7ebd6
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp
@@ -0,0 +1,102 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "jointslider.h"
5
6namespace ODEManaged
7{
8
9 //Constructors
10
11 JointSlider::JointSlider(void) : Joint(){}
12
13
14 JointSlider::JointSlider(World &world)
15 {
16 if(this->_id) dJointDestroy(this->_id);
17 _id = dJointCreateSlider(world.Id(), 0);
18 }
19
20
21 JointSlider::JointSlider(World &world, JointGroup &jointGroup)
22 {
23 if(this->_id) dJointDestroy(this->_id);
24 _id = dJointCreateSlider(world.Id(), jointGroup.Id());
25 }
26
27
28 //Destructor
29
30 JointSlider::~JointSlider(void){}
31
32
33 //Methods
34
35 //Overloaded Create
36 void JointSlider::Create(World &world, JointGroup &jointGroup)
37 {
38 if(this->_id) dJointDestroy(this->_id);
39 _id = dJointCreateSlider(world.Id(), jointGroup.Id());
40 }
41
42 void JointSlider::Create(World &world)
43 {
44 if(this->_id) dJointDestroy(this->_id);
45 _id = dJointCreateSlider(world.Id(), 0);
46 }
47
48
49 //Overloaded Attach
50 void JointSlider::Attach(Body &body1, Body &body2)
51 {
52 dJointAttach(this->_id, body1.Id(), body2.Id());
53 }
54
55 void JointSlider::Attach(Body &body1)
56 {
57 dJointAttach(this->_id, body1.Id(), 0);
58 }
59
60
61 //SetAxis
62 void JointSlider::SetAxis(double x, double y, double z)
63 {
64 dJointSetSliderAxis(this->_id, x, y, z);
65 }
66
67 //GetAxis
68 Vector3 JointSlider::GetAxis(void)
69 {
70 Vector3 retVal;
71 dVector3 temp;
72 dJointGetSliderAxis(this->_id, temp);
73 retVal.x = temp[0];
74 retVal.y = temp[1];
75 retVal.z = temp[2];
76 return retVal;
77 }
78
79
80 //Movement Parameters
81
82 //SetAllMovParams
83 void JointSlider::SetAllMovParams(double LoStop, double HiStop,
84 double Velocity, double MaxForce,
85 double FudgeFactor, double Bounce,
86 double StopERP, double StopCFM)
87 {
88 if (LoStop <= 0)
89 dJointSetHingeParam(this->_id, dParamLoStop, LoStop);
90
91 if (HiStop >= 0)
92 dJointSetHingeParam(this->_id, dParamHiStop, HiStop);
93
94 dJointSetSliderParam(this->_id, dParamVel, Velocity);
95 dJointSetSliderParam(this->_id, dParamFMax, MaxForce);
96 dJointSetSliderParam(this->_id, dParamFudgeFactor, FudgeFactor);
97 dJointSetSliderParam(this->_id, dParamBounce, Bounce);
98 dJointSetSliderParam(this->_id, dParamStopERP, StopERP);
99 dJointSetSliderParam(this->_id, dParamStopCFM, StopCFM);
100 }
101
102}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.h b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.h
new file mode 100644
index 0000000..7e96e59
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.h
@@ -0,0 +1,158 @@
1#pragma once
2
3#include "Joint.h"
4#include "CommonMgd.h"
5
6namespace ODEManaged
7{
8 __gc public class JointSlider : public Joint
9 {
10 public:
11
12
13 //Constructors
14
15 JointSlider(void);
16 JointSlider(World &world);
17 JointSlider(World &world, JointGroup &jointGroup);
18
19
20 //Destructors
21
22 virtual ~JointSlider(void);
23
24
25 //Methods
26
27 //Overloaded Create
28 void Create(World &world, JointGroup &jointGroup);
29 void Create(World &world);
30
31 //Overloaded Attach
32 void Attach(Body &body1, Body &body2);
33 void Attach(Body &body1);
34
35 void SetAxis(double x, double y, double z);
36 Vector3 GetAxis(void);
37
38 void SetAllMovParams(double LoStop, double HiStop,
39 double Velocity, double MaxForce,
40 double FudgeFactor, double Bounce,
41 double StopERP, double StopCFM);
42
43
44 //Properties
45
46 //LoStop
47 __property double get_LoStop(void)
48 {
49 return dJointGetSliderParam(this->_id, dParamLoStop);
50 }
51
52 __property void set_LoStop(double value)
53 {
54 if (value <=0)
55 dJointSetSliderParam(this->_id, dParamLoStop, value);
56 }
57
58
59 //HiStop
60 __property double get_HiStop(void)
61 {
62 return dJointGetSliderParam(this->_id, dParamHiStop);
63 }
64
65 __property void set_HiStop(double value)
66 {
67 if (value >= 0)
68 dJointSetSliderParam(this->_id, dParamHiStop, value);
69 }
70
71
72 //Velocity
73 __property double get_Velocity(void)
74 {
75 return dJointGetSliderParam(this->_id, dParamVel);
76 }
77
78 __property void set_Velocity(double value)
79 {
80 dJointSetSliderParam(this->_id, dParamVel, value);
81 }
82
83
84 //MaxForce
85 __property double get_MaxForce(void)
86 {
87 return dJointGetSliderParam(this->_id, dParamFMax);
88 }
89
90 __property void set_MaxForce(double value)
91 {
92 dJointSetSliderParam(this->_id, dParamFMax, value);
93 }
94
95
96 //FudgeFactor
97 __property double get_FudgeFactor(void)
98 {
99 return dJointGetSliderParam(this->_id, dParamFudgeFactor);
100 }
101
102 __property void set_FudgeFactor(double value)
103 {
104 dJointSetSliderParam(this->_id, dParamFudgeFactor, value);
105 }
106
107
108 //Bounce
109 __property double get_Bounce(void)
110 {
111 return dJointGetSliderParam(this->_id, dParamBounce);
112 }
113
114 __property void set_Bounce(double value)
115 {
116 dJointSetSliderParam(this->_id, dParamBounce, value);
117 }
118
119
120 //StopERP
121 __property double get_StopERP(void)
122 {
123 return dJointGetSliderParam(this->_id, dParamStopERP);
124 }
125
126 __property void set_StopERP(double value)
127 {
128 dJointSetSliderParam(this->_id, dParamStopERP, value);
129 }
130
131
132 //StopCFM
133 __property double get_StopCFM(void)
134 {
135 return dJointGetSliderParam(this->_id, dParamStopCFM);
136 }
137
138 __property void set_StopCFM(double value)
139 {
140 dJointSetSliderParam(this->_id, dParamStopCFM, value);
141 }
142
143
144 //GetAngle
145 __property double get_Position(void)
146 {
147 return dJointGetSliderPosition(this->_id);
148 }
149
150
151 //GetAngleRate
152 __property double get_PositionRate(void)
153 {
154 return dJointGetSliderPositionRate(this->_id);
155 }
156
157 };
158}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Release/ode.dll b/libraries/ode-0.9/contrib/DotNetManaged/Release/ode.dll
new file mode 100755
index 0000000..ccf2a41
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Release/ode.dll
Binary files differ
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Space.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Space.cpp
new file mode 100644
index 0000000..c9a7e19
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Space.cpp
@@ -0,0 +1,53 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "Space.h"
5#include "TEST.h"
6
7namespace ODEManaged
8{
9
10 //Constructor
11
12 Space::Space(void)
13 {
14 _id = dSimpleSpaceCreate();
15 }
16
17 Space::Space(int minlevel, int maxlevel)
18 {
19 _id = dHashSpaceCreate();
20 dHashSpaceSetLevels(this->_id, minlevel, maxlevel);
21 }
22
23
24 //Destructor
25
26 Space::~Space(void)
27 {
28 dSpaceDestroy(this->_id);
29 }
30
31
32 //Methods
33
34 //Id
35 dSpaceID Space::Id()
36 {
37 return _id;
38 }
39
40
41 //Collide
42 void Space::Collide(void *data, dNearCallback *callback)
43 {
44 dSpaceCollide(this->_id, data, callback);
45 }
46
47
48
49
50
51
52
53}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Space.h b/libraries/ode-0.9/contrib/DotNetManaged/Space.h
new file mode 100644
index 0000000..78e81ad
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Space.h
@@ -0,0 +1,33 @@
1#pragma once
2
3#include "CommonMgd.h"
4
5namespace ODEManaged
6{
7 __gc public class Space
8 {
9 public:
10
11 //Constructor
12
13 Space(void);
14 Space(int minlevel, int maxlevel);
15
16 //Destructor
17
18 ~Space(void);
19
20
21 //Methods
22
23 dSpaceID Id(void);
24 void Collide(void *data, dNearCallback *callback);
25
26
27 private:
28
29 dSpaceID _id;
30
31 };
32
33}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.cpp
new file mode 100644
index 0000000..b6c9d98
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.cpp
@@ -0,0 +1,5 @@
1// stdafx.cpp : source file that includes just the standard includes
2// ODEManaged.pch will be the pre-compiled header
3// stdafx.obj will contain the pre-compiled type information
4
5#include "stdafx.h"
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.h b/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.h
new file mode 100644
index 0000000..2222759
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.h
@@ -0,0 +1,12 @@
1// stdafx.h : include file for standard system include files,
2// or project specific include files that are used frequently,
3// but are changed infrequently
4
5#pragma once
6
7#using <mscorlib.dll>
8
9
10
11
12
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/TEST.h b/libraries/ode-0.9/contrib/DotNetManaged/TEST.h
new file mode 100644
index 0000000..e2cdbc3
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/TEST.h
@@ -0,0 +1,17 @@
1
2#pragma once
3
4#include "CommonMgd.h"
5
6namespace ODEManaged
7{
8
9void RnearCallback(void *data, dGeomID o1, dGeomID o2)
10 {
11 }
12
13}
14
15
16
17
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/World.cpp b/libraries/ode-0.9/contrib/DotNetManaged/World.cpp
new file mode 100644
index 0000000..beab21a
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/World.cpp
@@ -0,0 +1,74 @@
1#include "StdAfx.h"
2
3#include <ode/ode.h>
4#include "World.h"
5
6namespace ODEManaged
7{
8
9 //Constructor
10
11 World::World(void)
12 {
13 /*dWorldID _temp = dWorldCreate();
14 _id = _temp;*/
15 _id = dWorldCreate();
16 }
17
18
19 //Destructor
20
21 World::~World(void)
22 {
23 dWorldDestroy(this->_id);
24 }
25
26
27 //Methods
28
29 //Id
30 dWorldID World::Id()
31 {
32 return _id;
33 }
34
35
36 //SetGravity
37 void World::SetGravity(double x, double y, double z)
38 {
39 dWorldSetGravity(this->_id, x, y, z);
40 }
41
42
43 //Overloaded GetGravity
44 Vector3 World::GetGravity(void)
45 {
46 Vector3 retVal;
47 dVector3 temp;
48 dWorldGetGravity(this->_id, temp);
49 retVal.x = temp[0];
50 retVal.y = temp[1];
51 retVal.z = temp[2];
52 return retVal;
53 }
54
55 void World::GetGravity(double gravity __gc[])
56 {
57 dVector3 temp;
58 dWorldGetGravity(this->_id, temp);
59 gravity[0] = temp[0];
60 gravity[1] = temp[1];
61 gravity[2] = temp[2];
62 }
63
64
65 //Step
66 void World::Step(double stepSize)
67 {
68 dWorldStep(this->_id, stepSize);
69 }
70
71}
72
73
74
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 @@
1#pragma once
2
3#include "CommonMgd.h"
4
5namespace ODEManaged
6{
7 __gc public class World
8 {
9 public:
10
11 //Constructor
12
13 World(void);
14
15
16 //Destructor
17
18 ~World(void);
19
20
21 // Methods
22
23 dWorldID Id(void);
24
25 void SetGravity(double x, double y, double z);
26
27 //Overloaded GetGravity
28 Vector3 GetGravity(void);
29 void GetGravity(double gravity __gc[]);
30
31 void Step(double stepSize);
32
33
34 //Properties
35
36 //Constraint Force Mixing
37 __property void set_CFM(double cfm)
38 {
39 dWorldSetCFM(this->_id,cfm);
40 }
41
42 __property double get_CFM(void)
43 {
44 return dWorldGetCFM(this->_id);
45 }
46
47
48 //Error Reduction Parameter
49 __property void set_ERP(double erp)
50 {
51 dWorldSetERP(this->_id,erp);
52 }
53
54 __property double get_ERP(void)
55 {
56 return dWorldGetERP(this->_id);
57 }
58
59
60 private:
61
62 dWorldID _id;
63
64 };
65
66}
67
generated by cgit v1.1 at 2024-12-29 16:10:36 +0000