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-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs | 2025 |
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diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs new file mode 100644 index 0000000..10d7d50 --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs | |||
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1 | /* | ||
2 | * based on: | ||
3 | * Ode.NET - .NET bindings for ODE | ||
4 | * Jason Perkins (starkos@industriousone.com) | ||
5 | * Licensed under the New BSD | ||
6 | * Part of the OpenDynamicsEngine | ||
7 | Open Dynamics Engine | ||
8 | Copyright (c) 2001-2007, Russell L. Smith. | ||
9 | All rights reserved. | ||
10 | |||
11 | Redistribution and use in source and binary forms, with or without | ||
12 | modification, are permitted provided that the following conditions | ||
13 | are met: | ||
14 | |||
15 | Redistributions of source code must retain the above copyright notice, | ||
16 | this list of conditions and the following disclaimer. | ||
17 | |||
18 | Redistributions in binary form must reproduce the above copyright notice, | ||
19 | this list of conditions and the following disclaimer in the documentation | ||
20 | and/or other materials provided with the distribution. | ||
21 | |||
22 | Neither the names of ODE's copyright owner nor the names of its | ||
23 | contributors may be used to endorse or promote products derived from | ||
24 | this software without specific prior written permission. | ||
25 | |||
26 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
27 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
28 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
29 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
30 | OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
31 | SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED | ||
32 | TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR | ||
33 | PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF | ||
34 | LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING | ||
35 | NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
36 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
37 | * | ||
38 | * changes by opensim team; | ||
39 | * changes by Aurora team http://www.aurora-sim.org/ | ||
40 | |||
41 | * Revision/fixs by Ubit Umarov | ||
42 | */ | ||
43 | |||
44 | using System; | ||
45 | using System.Runtime.InteropServices; | ||
46 | using System.Security; | ||
47 | using OMV = OpenMetaverse; | ||
48 | namespace OdeAPI | ||
49 | { | ||
50 | //#if dDOUBLE | ||
51 | // don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim | ||
52 | // at least we save same memory and memory access time, FPU performance on intel usually is similar | ||
53 | // using dReal = System.Double; | ||
54 | //#else | ||
55 | using dReal = System.Single; | ||
56 | //#endif | ||
57 | |||
58 | public static class d | ||
59 | { | ||
60 | public static dReal Infinity = dReal.MaxValue; | ||
61 | public static int NTotalBodies = 0; | ||
62 | public static int NTotalGeoms = 0; | ||
63 | |||
64 | public const uint CONTACTS_UNIMPORTANT = 0x80000000; | ||
65 | |||
66 | #region Flags and Enumerations | ||
67 | |||
68 | [Flags] | ||
69 | public enum AllocateODEDataFlags : uint | ||
70 | { | ||
71 | BasicData = 0, | ||
72 | CollisionData = 0x00000001, | ||
73 | All = ~0u | ||
74 | } | ||
75 | |||
76 | [Flags] | ||
77 | public enum IniteODEFlags : uint | ||
78 | { | ||
79 | dInitFlagManualThreadCleanup = 0x00000001 | ||
80 | } | ||
81 | |||
82 | [Flags] | ||
83 | public enum ContactFlags : int | ||
84 | { | ||
85 | Mu2 = 0x001, | ||
86 | FDir1 = 0x002, | ||
87 | Bounce = 0x004, | ||
88 | SoftERP = 0x008, | ||
89 | SoftCFM = 0x010, | ||
90 | Motion1 = 0x020, | ||
91 | Motion2 = 0x040, | ||
92 | MotionN = 0x080, | ||
93 | Slip1 = 0x100, | ||
94 | Slip2 = 0x200, | ||
95 | Approx0 = 0x0000, | ||
96 | Approx1_1 = 0x1000, | ||
97 | Approx1_2 = 0x2000, | ||
98 | Approx1 = 0x3000 | ||
99 | } | ||
100 | |||
101 | public enum GeomClassID : int | ||
102 | { | ||
103 | SphereClass, | ||
104 | BoxClass, | ||
105 | CapsuleClass, | ||
106 | CylinderClass, | ||
107 | PlaneClass, | ||
108 | RayClass, | ||
109 | ConvexClass, | ||
110 | GeomTransformClass, | ||
111 | TriMeshClass, | ||
112 | HeightfieldClass, | ||
113 | FirstSpaceClass, | ||
114 | SimpleSpaceClass = FirstSpaceClass, | ||
115 | HashSpaceClass, | ||
116 | QuadTreeSpaceClass, | ||
117 | LastSpaceClass = QuadTreeSpaceClass, | ||
118 | UbitTerrainClass, | ||
119 | FirstUserClass, | ||
120 | LastUserClass = FirstUserClass + MaxUserClasses - 1, | ||
121 | NumClasses, | ||
122 | MaxUserClasses = 5 | ||
123 | } | ||
124 | |||
125 | public enum JointType : int | ||
126 | { | ||
127 | None, | ||
128 | Ball, | ||
129 | Hinge, | ||
130 | Slider, | ||
131 | Contact, | ||
132 | Universal, | ||
133 | Hinge2, | ||
134 | Fixed, | ||
135 | Null, | ||
136 | AMotor, | ||
137 | LMotor, | ||
138 | Plane2D | ||
139 | } | ||
140 | |||
141 | public enum JointParam : int | ||
142 | { | ||
143 | LoStop, | ||
144 | HiStop, | ||
145 | Vel, | ||
146 | FMax, | ||
147 | FudgeFactor, | ||
148 | Bounce, | ||
149 | CFM, | ||
150 | StopERP, | ||
151 | StopCFM, | ||
152 | SuspensionERP, | ||
153 | SuspensionCFM, | ||
154 | LoStop2 = 256, | ||
155 | HiStop2, | ||
156 | Vel2, | ||
157 | FMax2, | ||
158 | FudgeFactor2, | ||
159 | Bounce2, | ||
160 | CFM2, | ||
161 | StopERP2, | ||
162 | StopCFM2, | ||
163 | SuspensionERP2, | ||
164 | SuspensionCFM2, | ||
165 | LoStop3 = 512, | ||
166 | HiStop3, | ||
167 | Vel3, | ||
168 | FMax3, | ||
169 | FudgeFactor3, | ||
170 | Bounce3, | ||
171 | CFM3, | ||
172 | StopERP3, | ||
173 | StopCFM3, | ||
174 | SuspensionERP3, | ||
175 | SuspensionCFM3 | ||
176 | } | ||
177 | |||
178 | public enum dSweepAndPruneAxis : int | ||
179 | { | ||
180 | XYZ = ((0)|(1<<2)|(2<<4)), | ||
181 | XZY = ((0)|(2<<2)|(1<<4)), | ||
182 | YXZ = ((1)|(0<<2)|(2<<4)), | ||
183 | YZX = ((1)|(2<<2)|(0<<4)), | ||
184 | ZXY = ((2)|(0<<2)|(1<<4)), | ||
185 | ZYX = ((2)|(1<<2)|(0<<4)) | ||
186 | } | ||
187 | |||
188 | #endregion | ||
189 | |||
190 | #region Callbacks | ||
191 | |||
192 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
193 | public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); | ||
194 | |||
195 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
196 | public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); | ||
197 | |||
198 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
199 | public delegate void GetAABBFn(IntPtr geom, out AABB aabb); | ||
200 | |||
201 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
202 | public delegate ColliderFn GetColliderFnFn(int num); | ||
203 | |||
204 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
205 | public delegate void GeomDtorFn(IntPtr o); | ||
206 | |||
207 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
208 | public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); | ||
209 | |||
210 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
211 | public delegate dReal UbitTerrainGetHeight(IntPtr p_user_data, int x, int z); | ||
212 | |||
213 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
214 | public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); | ||
215 | |||
216 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
217 | public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); | ||
218 | |||
219 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
220 | public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); | ||
221 | |||
222 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
223 | public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); | ||
224 | |||
225 | #endregion | ||
226 | |||
227 | #region Structs | ||
228 | |||
229 | [StructLayout(LayoutKind.Sequential)] | ||
230 | public struct AABB | ||
231 | { | ||
232 | public dReal MinX, MaxX; | ||
233 | public dReal MinY, MaxY; | ||
234 | public dReal MinZ, MaxZ; | ||
235 | } | ||
236 | |||
237 | |||
238 | [StructLayout(LayoutKind.Sequential)] | ||
239 | public struct Contact | ||
240 | { | ||
241 | public SurfaceParameters surface; | ||
242 | public ContactGeom geom; | ||
243 | public Vector3 fdir1; | ||
244 | public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact)); | ||
245 | } | ||
246 | |||
247 | |||
248 | [StructLayout(LayoutKind.Sequential)] | ||
249 | public struct ContactGeom | ||
250 | { | ||
251 | |||
252 | public Vector3 pos; | ||
253 | public Vector3 normal; | ||
254 | public dReal depth; | ||
255 | public IntPtr g1; | ||
256 | public IntPtr g2; | ||
257 | public int side1; | ||
258 | public int side2; | ||
259 | public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom)); | ||
260 | } | ||
261 | |||
262 | [StructLayout(LayoutKind.Sequential)] | ||
263 | public struct GeomClass | ||
264 | { | ||
265 | public int bytes; | ||
266 | public GetColliderFnFn collider; | ||
267 | public GetAABBFn aabb; | ||
268 | public AABBTestFn aabb_test; | ||
269 | public GeomDtorFn dtor; | ||
270 | } | ||
271 | |||
272 | |||
273 | [StructLayout(LayoutKind.Sequential)] | ||
274 | public struct JointFeedback | ||
275 | { | ||
276 | public Vector3 f1; | ||
277 | public Vector3 t1; | ||
278 | public Vector3 f2; | ||
279 | public Vector3 t2; | ||
280 | } | ||
281 | |||
282 | |||
283 | [StructLayout(LayoutKind.Sequential)] | ||
284 | public struct Mass | ||
285 | { | ||
286 | public dReal mass; | ||
287 | public Vector4 c; | ||
288 | public Matrix3 I; | ||
289 | } | ||
290 | |||
291 | |||
292 | [StructLayout(LayoutKind.Sequential)] | ||
293 | public struct Matrix3 | ||
294 | { | ||
295 | public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) | ||
296 | { | ||
297 | M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; | ||
298 | M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; | ||
299 | M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; | ||
300 | } | ||
301 | public dReal M00, M10, M20; | ||
302 | private dReal _m30; | ||
303 | public dReal M01, M11, M21; | ||
304 | private dReal _m31; | ||
305 | public dReal M02, M12, M22; | ||
306 | private dReal _m32; | ||
307 | } | ||
308 | |||
309 | [StructLayout(LayoutKind.Sequential)] | ||
310 | public struct Matrix4 | ||
311 | { | ||
312 | public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, | ||
313 | dReal m01, dReal m11, dReal m21, dReal m31, | ||
314 | dReal m02, dReal m12, dReal m22, dReal m32, | ||
315 | dReal m03, dReal m13, dReal m23, dReal m33) | ||
316 | { | ||
317 | M00 = m00; M10 = m10; M20 = m20; M30 = m30; | ||
318 | M01 = m01; M11 = m11; M21 = m21; M31 = m31; | ||
319 | M02 = m02; M12 = m12; M22 = m22; M32 = m32; | ||
320 | M03 = m03; M13 = m13; M23 = m23; M33 = m33; | ||
321 | } | ||
322 | public dReal M00, M10, M20, M30; | ||
323 | public dReal M01, M11, M21, M31; | ||
324 | public dReal M02, M12, M22, M32; | ||
325 | public dReal M03, M13, M23, M33; | ||
326 | } | ||
327 | |||
328 | [StructLayout(LayoutKind.Sequential)] | ||
329 | public struct Quaternion | ||
330 | { | ||
331 | public dReal W, X, Y, Z; | ||
332 | } | ||
333 | |||
334 | |||
335 | [StructLayout(LayoutKind.Sequential)] | ||
336 | public struct SurfaceParameters | ||
337 | { | ||
338 | public ContactFlags mode; | ||
339 | public dReal mu; | ||
340 | public dReal mu2; | ||
341 | public dReal bounce; | ||
342 | public dReal bounce_vel; | ||
343 | public dReal soft_erp; | ||
344 | public dReal soft_cfm; | ||
345 | public dReal motion1; | ||
346 | public dReal motion2; | ||
347 | public dReal motionN; | ||
348 | public dReal slip1; | ||
349 | public dReal slip2; | ||
350 | } | ||
351 | |||
352 | |||
353 | [StructLayout(LayoutKind.Sequential)] | ||
354 | public struct Vector3 | ||
355 | { | ||
356 | public Vector3(dReal x, dReal y, dReal z) | ||
357 | { | ||
358 | X = x; Y = y; Z = z; _w = 0.0f; | ||
359 | } | ||
360 | public dReal X, Y, Z; | ||
361 | private dReal _w; | ||
362 | } | ||
363 | |||
364 | |||
365 | [StructLayout(LayoutKind.Sequential)] | ||
366 | public struct Vector4 | ||
367 | { | ||
368 | public Vector4(dReal x, dReal y, dReal z, dReal w) | ||
369 | { | ||
370 | X = x; Y = y; Z = z; W = w; | ||
371 | } | ||
372 | public dReal X, Y, Z, W; | ||
373 | } | ||
374 | |||
375 | #endregion | ||
376 | |||
377 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] | ||
378 | public static extern int AllocateODEDataForThread(uint ODEInitFlags); | ||
379 | |||
380 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] | ||
381 | public static extern bool AreConnected(IntPtr b1, IntPtr b2); | ||
382 | |||
383 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] | ||
384 | public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); | ||
385 | |||
386 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] | ||
387 | public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); | ||
388 | |||
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); | ||
391 | |||
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); | ||
394 | |||
395 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] | ||
396 | public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); | ||
397 | |||
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); | ||
400 | |||
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); | ||
403 | |||
404 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] | ||
405 | public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); | ||
406 | |||
407 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] | ||
408 | public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); | ||
409 | |||
410 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] | ||
411 | public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); | ||
412 | |||
413 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] | ||
414 | public static extern void BodyCopyPosition(IntPtr body, out dReal X); | ||
415 | |||
416 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] | ||
417 | public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); | ||
418 | |||
419 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] | ||
420 | public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); | ||
421 | |||
422 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] | ||
423 | public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); | ||
424 | |||
425 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] | ||
426 | public static extern void BodyCopyRotation(IntPtr body, out dReal M00); | ||
427 | |||
428 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] | ||
429 | public static extern IntPtr BodyiCreate(IntPtr world); | ||
430 | public static IntPtr BodyCreate(IntPtr world) | ||
431 | { | ||
432 | NTotalBodies++; | ||
433 | return BodyiCreate(world); | ||
434 | } | ||
435 | |||
436 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] | ||
437 | public static extern void BodyiDestroy(IntPtr body); | ||
438 | public static void BodyDestroy(IntPtr body) | ||
439 | { | ||
440 | NTotalBodies--; | ||
441 | BodyiDestroy(body); | ||
442 | } | ||
443 | |||
444 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] | ||
445 | public static extern void BodyDisable(IntPtr body); | ||
446 | |||
447 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] | ||
448 | public static extern void BodyEnable(IntPtr body); | ||
449 | |||
450 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | ||
451 | public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); | ||
452 | |||
453 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | ||
454 | public static extern bool BodyGetAutoDisableFlag(IntPtr body); | ||
455 | |||
456 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] | ||
457 | public static extern void BodyGetAutoDisableDefaults(IntPtr body); | ||
458 | |||
459 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | ||
460 | public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); | ||
461 | |||
462 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | ||
463 | public static extern int BodyGetAutoDisableSteps(IntPtr body); | ||
464 | |||
465 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | ||
466 | public static extern dReal BodyGetAutoDisableTime(IntPtr body); | ||
467 | |||
468 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] | ||
469 | public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); | ||
470 | public static Vector3 BodyGetAngularVel(IntPtr body) | ||
471 | { | ||
472 | unsafe { return *(BodyGetAngularVelUnsafe(body)); } | ||
473 | } | ||
474 | |||
475 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] | ||
476 | public static extern IntPtr BodyGetData(IntPtr body); | ||
477 | |||
478 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] | ||
479 | public static extern int BodyGetFiniteRotationMode(IntPtr body); | ||
480 | |||
481 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] | ||
482 | public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); | ||
483 | |||
484 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] | ||
485 | public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); | ||
486 | public static Vector3 BodyGetForce(IntPtr body) | ||
487 | { | ||
488 | unsafe { return *(BodyGetForceUnsafe(body)); } | ||
489 | } | ||
490 | |||
491 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] | ||
492 | public static extern bool BodyGetGravityMode(IntPtr body); | ||
493 | |||
494 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] | ||
495 | public static extern int BodyGetGyroscopicMode(IntPtr body); | ||
496 | |||
497 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] | ||
498 | public static extern IntPtr BodyGetJoint(IntPtr body, int index); | ||
499 | |||
500 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] | ||
501 | public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); | ||
502 | public static Vector3 BodyGetLinearVel(IntPtr body) | ||
503 | { | ||
504 | unsafe { return *(BodyGetLinearVelUnsafe(body)); } | ||
505 | } | ||
506 | |||
507 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] | ||
508 | public static extern void BodyGetMass(IntPtr body, out Mass mass); | ||
509 | |||
510 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] | ||
511 | public static extern int BodyGetNumJoints(IntPtr body); | ||
512 | |||
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); | ||
515 | |||
516 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] | ||
517 | public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); | ||
518 | public static Vector3 BodyGetPosition(IntPtr body) | ||
519 | { | ||
520 | unsafe { return *(BodyGetPositionUnsafe(body)); } | ||
521 | } | ||
522 | |||
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); | ||
525 | |||
526 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
527 | public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); | ||
528 | public static Quaternion BodyGetQuaternion(IntPtr body) | ||
529 | { | ||
530 | unsafe { return *(BodyGetQuaternionUnsafe(body)); } | ||
531 | } | ||
532 | |||
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); | ||
535 | |||
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); | ||
538 | |||
539 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] | ||
540 | public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); | ||
541 | public static Matrix3 BodyGetRotation(IntPtr body) | ||
542 | { | ||
543 | unsafe { return *(BodyGetRotationUnsafe(body)); } | ||
544 | } | ||
545 | |||
546 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] | ||
547 | public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); | ||
548 | public static Vector3 BodyGetTorque(IntPtr body) | ||
549 | { | ||
550 | unsafe { return *(BodyGetTorqueUnsafe(body)); } | ||
551 | } | ||
552 | |||
553 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] | ||
554 | public static extern IntPtr BodyGetWorld(IntPtr body); | ||
555 | |||
556 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity] | ||
557 | public static extern IntPtr BodyGetFirstGeom(IntPtr body); | ||
558 | |||
559 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity] | ||
560 | public static extern IntPtr dBodyGetNextGeom(IntPtr Geom); | ||
561 | |||
562 | |||
563 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] | ||
564 | public static extern bool BodyIsEnabled(IntPtr body); | ||
565 | |||
566 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] | ||
567 | public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); | ||
568 | |||
569 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | ||
570 | public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); | ||
571 | |||
572 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] | ||
573 | public static extern void BodySetAutoDisableDefaults(IntPtr body); | ||
574 | |||
575 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | ||
576 | public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); | ||
577 | |||
578 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | ||
579 | public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); | ||
580 | |||
581 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | ||
582 | public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); | ||
583 | |||
584 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | ||
585 | public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); | ||
586 | |||
587 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] | ||
588 | public static extern void BodySetData(IntPtr body, IntPtr data); | ||
589 | |||
590 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] | ||
591 | public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); | ||
592 | |||
593 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] | ||
594 | public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); | ||
595 | |||
596 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] | ||
597 | public static extern void BodySetLinearDamping(IntPtr body, dReal scale); | ||
598 | |||
599 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
600 | public static extern void BodySetAngularDamping(IntPtr body, dReal scale); | ||
601 | |||
602 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity] | ||
603 | public static extern dReal BodyGetLinearDamping(IntPtr body); | ||
604 | |||
605 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
606 | public static extern dReal BodyGetAngularDamping(IntPtr body); | ||
607 | |||
608 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
609 | public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale); | ||
610 | |||
611 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
612 | public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold); | ||
613 | |||
614 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
615 | public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold); | ||
616 | |||
617 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
618 | public static extern dReal BodyGetLinearDampingThreshold(IntPtr body); | ||
619 | |||
620 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
621 | public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); | ||
622 | |||
623 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] | ||
624 | public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); | ||
625 | |||
626 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] | ||
627 | public static extern void BodySetGravityMode(IntPtr body, bool mode); | ||
628 | |||
629 | /// <summary> | ||
630 | /// Sets the Gyroscopic term status on the body specified. | ||
631 | /// </summary> | ||
632 | /// <param name="body">Pointer to body</param> | ||
633 | /// <param name="enabled">NonZero enabled, Zero disabled</param> | ||
634 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] | ||
635 | public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); | ||
636 | |||
637 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] | ||
638 | public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); | ||
639 | |||
640 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] | ||
641 | public static extern void BodySetMass(IntPtr body, ref Mass mass); | ||
642 | |||
643 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] | ||
644 | public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); | ||
645 | |||
646 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
647 | public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); | ||
648 | |||
649 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
650 | public static extern void BodySetQuaternion(IntPtr body, ref dReal w); | ||
651 | |||
652 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] | ||
653 | public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); | ||
654 | |||
655 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] | ||
656 | public static extern void BodySetRotation(IntPtr body, ref dReal M00); | ||
657 | |||
658 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] | ||
659 | public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); | ||
660 | |||
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); | ||
663 | |||
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); | ||
666 | |||
667 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] | ||
668 | public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, | ||
669 | ref Vector3 side1, ref Vector3 p2, | ||
670 | ref Matrix3 R2, ref Vector3 side2, | ||
671 | ref Vector3 normal, out dReal depth, out int return_code, | ||
672 | int maxc, out ContactGeom contact, int skip); | ||
673 | |||
674 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] | ||
675 | public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, | ||
676 | ref Vector3 side1, ref Vector3 _p2, | ||
677 | ref Matrix3 R2, ref Vector3 side2); | ||
678 | |||
679 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] | ||
680 | public static extern void CleanupODEAllDataForThread(); | ||
681 | |||
682 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] | ||
683 | public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, | ||
684 | ref Vector3 b1, ref Vector3 b2, | ||
685 | ref Vector3 cp1, ref Vector3 cp2); | ||
686 | |||
687 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] | ||
688 | public static extern void CloseODE(); | ||
689 | |||
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); | ||
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); | ||
694 | |||
695 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] | ||
696 | public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); | ||
697 | |||
698 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] | ||
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) | ||
701 | { | ||
702 | NTotalGeoms++; | ||
703 | return CreateiBox(space, lx, ly, lz); | ||
704 | } | ||
705 | |||
706 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] | ||
707 | public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length); | ||
708 | public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length) | ||
709 | { | ||
710 | NTotalGeoms++; | ||
711 | return CreateiCapsule(space, radius, length); | ||
712 | } | ||
713 | |||
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); | ||
716 | public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons) | ||
717 | { | ||
718 | NTotalGeoms++; | ||
719 | return CreateiConvex(space, planes, planeCount, points, pointCount, polygons); | ||
720 | } | ||
721 | |||
722 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] | ||
723 | public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length); | ||
724 | public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length) | ||
725 | { | ||
726 | NTotalGeoms++; | ||
727 | return CreateiCylinder(space, radius, length); | ||
728 | } | ||
729 | |||
730 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] | ||
731 | public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable); | ||
732 | public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable) | ||
733 | { | ||
734 | NTotalGeoms++; | ||
735 | return CreateiHeightfield(space, data, bPlaceable); | ||
736 | } | ||
737 | |||
738 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateUbitTerrain"), SuppressUnmanagedCodeSecurity] | ||
739 | public static extern IntPtr CreateiUbitTerrain(IntPtr space, IntPtr data, int bPlaceable); | ||
740 | public static IntPtr CreateUbitTerrain(IntPtr space, IntPtr data, int bPlaceable) | ||
741 | { | ||
742 | NTotalGeoms++; | ||
743 | return CreateiUbitTerrain(space, data, bPlaceable); | ||
744 | } | ||
745 | |||
746 | |||
747 | |||
748 | |||
749 | |||
750 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] | ||
751 | public static extern IntPtr CreateiGeom(int classnum); | ||
752 | public static IntPtr CreateGeom(int classnum) | ||
753 | { | ||
754 | NTotalGeoms++; | ||
755 | return CreateiGeom(classnum); | ||
756 | } | ||
757 | |||
758 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] | ||
759 | public static extern int CreateGeomClass(ref GeomClass classptr); | ||
760 | |||
761 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] | ||
762 | public static extern IntPtr CreateGeomTransform(IntPtr space); | ||
763 | |||
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); | ||
766 | public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d) | ||
767 | { | ||
768 | NTotalGeoms++; | ||
769 | return CreateiPlane(space, a, b, c, d); | ||
770 | } | ||
771 | |||
772 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] | ||
773 | public static extern IntPtr CreateiRay(IntPtr space, dReal length); | ||
774 | public static IntPtr CreateRay(IntPtr space, dReal length) | ||
775 | { | ||
776 | NTotalGeoms++; | ||
777 | return CreateiRay(space, length); | ||
778 | } | ||
779 | |||
780 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] | ||
781 | public static extern IntPtr CreateiSphere(IntPtr space, dReal radius); | ||
782 | public static IntPtr CreateSphere(IntPtr space, dReal radius) | ||
783 | { | ||
784 | NTotalGeoms++; | ||
785 | return CreateiSphere(space, radius); | ||
786 | } | ||
787 | |||
788 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] | ||
789 | public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, | ||
790 | TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); | ||
791 | public static IntPtr CreateTriMesh(IntPtr space, IntPtr data, | ||
792 | TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback) | ||
793 | { | ||
794 | NTotalGeoms++; | ||
795 | return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback); | ||
796 | } | ||
797 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] | ||
798 | public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); | ||
799 | |||
800 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] | ||
801 | public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); | ||
802 | |||
803 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] | ||
804 | public static extern int FactorCholesky(ref dReal A00, int n); | ||
805 | |||
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); | ||
808 | |||
809 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] | ||
810 | public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); | ||
811 | |||
812 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] | ||
813 | public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); | ||
814 | |||
815 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] | ||
816 | public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); | ||
817 | |||
818 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] | ||
819 | public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); | ||
820 | |||
821 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] | ||
822 | public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); | ||
823 | |||
824 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] | ||
825 | public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); | ||
826 | |||
827 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] | ||
828 | public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); | ||
829 | |||
830 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] | ||
831 | public static extern void GeomClearOffset(IntPtr geom); | ||
832 | |||
833 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] | ||
834 | public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); | ||
835 | |||
836 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] | ||
837 | public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); | ||
838 | |||
839 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
840 | public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); | ||
841 | |||
842 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
843 | public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); | ||
844 | |||
845 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
846 | public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); | ||
847 | |||
848 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
849 | public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); | ||
850 | |||
851 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] | ||
852 | public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); | ||
853 | |||
854 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] | ||
855 | public static extern void GeomCopyPosition(IntPtr geom, out dReal X); | ||
856 | |||
857 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] | ||
858 | public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); | ||
859 | |||
860 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] | ||
861 | public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); | ||
862 | |||
863 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] | ||
864 | public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); | ||
865 | |||
866 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] | ||
867 | public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); | ||
868 | |||
869 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] | ||
870 | public static extern void GeomiDestroy(IntPtr geom); | ||
871 | public static void GeomDestroy(IntPtr geom) | ||
872 | { | ||
873 | NTotalGeoms--; | ||
874 | GeomiDestroy(geom); | ||
875 | } | ||
876 | |||
877 | |||
878 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] | ||
879 | public static extern void GeomDisable(IntPtr geom); | ||
880 | |||
881 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] | ||
882 | public static extern void GeomEnable(IntPtr geom); | ||
883 | |||
884 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] | ||
885 | public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); | ||
886 | |||
887 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] | ||
888 | public static extern void GeomGetAABB(IntPtr geom, out dReal minX); | ||
889 | |||
890 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] | ||
891 | public static extern IntPtr GeomGetBody(IntPtr geom); | ||
892 | |||
893 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] | ||
894 | public static extern uint GeomGetCategoryBits(IntPtr geom); | ||
895 | |||
896 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] | ||
897 | public static extern IntPtr GeomGetClassData(IntPtr geom); | ||
898 | |||
899 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] | ||
900 | public static extern uint GeomGetCollideBits(IntPtr geom); | ||
901 | |||
902 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] | ||
903 | public static extern GeomClassID GeomGetClass(IntPtr geom); | ||
904 | |||
905 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] | ||
906 | public static extern IntPtr GeomGetData(IntPtr geom); | ||
907 | |||
908 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] | ||
909 | public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); | ||
910 | public static Vector3 GeomGetOffsetPosition(IntPtr geom) | ||
911 | { | ||
912 | unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } | ||
913 | } | ||
914 | |||
915 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
916 | public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); | ||
917 | public static Matrix3 GeomGetOffsetRotation(IntPtr geom) | ||
918 | { | ||
919 | unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } | ||
920 | } | ||
921 | |||
922 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] | ||
923 | public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); | ||
924 | public static Vector3 GeomGetPosition(IntPtr geom) | ||
925 | { | ||
926 | unsafe { return *(GeomGetPositionUnsafe(geom)); } | ||
927 | } | ||
928 | public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom) | ||
929 | { | ||
930 | Vector3 vtmp = GeomGetPosition(geom); | ||
931 | return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z); | ||
932 | } | ||
933 | |||
934 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
935 | public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); | ||
936 | public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom) | ||
937 | { | ||
938 | Quaternion qtmp; | ||
939 | GeomCopyQuaternion(geom, out qtmp); | ||
940 | return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W); | ||
941 | } | ||
942 | |||
943 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
944 | public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); | ||
945 | |||
946 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] | ||
947 | public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); | ||
948 | public static Matrix3 GeomGetRotation(IntPtr geom) | ||
949 | { | ||
950 | unsafe { return *(GeomGetRotationUnsafe(geom)); } | ||
951 | } | ||
952 | |||
953 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] | ||
954 | public static extern IntPtr GeomGetSpace(IntPtr geom); | ||
955 | |||
956 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] | ||
957 | public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, | ||
958 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
959 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
960 | |||
961 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] | ||
962 | public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | ||
963 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
964 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
965 | |||
966 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] | ||
967 | public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, | ||
968 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
969 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
970 | |||
971 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] | ||
972 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, | ||
973 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
974 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
975 | |||
976 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] | ||
977 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, | ||
978 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
979 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
980 | |||
981 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] | ||
982 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | ||
983 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
984 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
985 | |||
986 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] | ||
987 | public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, | ||
988 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
989 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
990 | |||
991 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] | ||
992 | public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | ||
993 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
994 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
995 | |||
996 | |||
997 | |||
998 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] | ||
999 | public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, | ||
1000 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
1001 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
1002 | |||
1003 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] | ||
1004 | public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | ||
1005 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
1006 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
1007 | |||
1008 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] | ||
1009 | public static extern IntPtr GeomHeightfieldDataCreate(); | ||
1010 | |||
1011 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] | ||
1012 | public static extern void GeomHeightfieldDataDestroy(IntPtr d); | ||
1013 | |||
1014 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] | ||
1015 | public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); | ||
1016 | |||
1017 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] | ||
1018 | public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); | ||
1019 | |||
1020 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] | ||
1021 | public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); | ||
1022 | |||
1023 | |||
1024 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity] | ||
1025 | public static extern void GeomUbitTerrainDataBuild(IntPtr d, float[] pHeightData, int bCopyHeightData, | ||
1026 | dReal sampleSize, int widthSamples, int depthSamples, | ||
1027 | dReal offset, dReal thickness, int bWrap); | ||
1028 | |||
1029 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity] | ||
1030 | public static extern void GeomUbitTerrainDataBuild(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | ||
1031 | dReal sampleSize, int widthSamples, int depthSamples, | ||
1032 | dReal thickness, int bWrap); | ||
1033 | |||
1034 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataCreate"), SuppressUnmanagedCodeSecurity] | ||
1035 | public static extern IntPtr GeomUbitTerrainDataCreate(); | ||
1036 | |||
1037 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataDestroy"), SuppressUnmanagedCodeSecurity] | ||
1038 | public static extern void GeomUbitTerrainDataDestroy(IntPtr d); | ||
1039 | |||
1040 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataSetBounds"), SuppressUnmanagedCodeSecurity] | ||
1041 | public static extern void GeomUbitTerrainDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); | ||
1042 | |||
1043 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainGetHeightfieldData"), SuppressUnmanagedCodeSecurity] | ||
1044 | public static extern IntPtr GeomUbitTerrainGetHeightfieldData(IntPtr g); | ||
1045 | |||
1046 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainSetHeightfieldData"), SuppressUnmanagedCodeSecurity] | ||
1047 | public static extern void GeomUbitTerrainSetHeightfieldData(IntPtr g, IntPtr d); | ||
1048 | |||
1049 | |||
1050 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] | ||
1051 | public static extern bool GeomIsEnabled(IntPtr geom); | ||
1052 | |||
1053 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] | ||
1054 | public static extern bool GeomIsOffset(IntPtr geom); | ||
1055 | |||
1056 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] | ||
1057 | public static extern bool GeomIsSpace(IntPtr geom); | ||
1058 | |||
1059 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] | ||
1060 | public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); | ||
1061 | |||
1062 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] | ||
1063 | public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); | ||
1064 | |||
1065 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] | ||
1066 | public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); | ||
1067 | |||
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); | ||
1070 | |||
1071 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] | ||
1072 | public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); | ||
1073 | |||
1074 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] | ||
1075 | public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); | ||
1076 | |||
1077 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] | ||
1078 | public static extern int GeomRayGetClosestHit(IntPtr ray); | ||
1079 | |||
1080 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] | ||
1081 | public static extern dReal GeomRayGetLength(IntPtr ray); | ||
1082 | |||
1083 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] | ||
1084 | public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); | ||
1085 | |||
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); | ||
1088 | |||
1089 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] | ||
1090 | public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); | ||
1091 | |||
1092 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] | ||
1093 | public static extern void GeomRaySetLength(IntPtr ray, dReal length); | ||
1094 | |||
1095 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] | ||
1096 | public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); | ||
1097 | |||
1098 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] | ||
1099 | public static extern void GeomSetBody(IntPtr geom, IntPtr body); | ||
1100 | |||
1101 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] | ||
1102 | public static extern void GeomSetCategoryBits(IntPtr geom, uint bits); | ||
1103 | |||
1104 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] | ||
1105 | public static extern void GeomSetCollideBits(IntPtr geom, uint bits); | ||
1106 | |||
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); | ||
1109 | |||
1110 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] | ||
1111 | public static extern void GeomSetData(IntPtr geom, IntPtr data); | ||
1112 | |||
1113 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] | ||
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 | |||
1128 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] | ||
1129 | public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); | ||
1130 | |||
1131 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1132 | public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); | ||
1133 | |||
1134 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1135 | public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); | ||
1136 | |||
1137 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] | ||
1138 | public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); | ||
1139 | |||
1140 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] | ||
1141 | public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); | ||
1142 | |||
1143 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] | ||
1144 | public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); | ||
1145 | |||
1146 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1147 | public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); | ||
1148 | |||
1149 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1150 | public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); | ||
1151 | |||
1152 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] | ||
1153 | public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); | ||
1154 | |||
1155 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] | ||
1156 | public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); | ||
1157 | |||
1158 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] | ||
1159 | public static extern dReal GeomSphereGetRadius(IntPtr geom); | ||
1160 | |||
1161 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] | ||
1162 | public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); | ||
1163 | |||
1164 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] | ||
1165 | public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); | ||
1166 | |||
1167 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] | ||
1168 | public static extern int GeomTransformGetCleanup(IntPtr geom); | ||
1169 | |||
1170 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] | ||
1171 | public static extern IntPtr GeomTransformGetGeom(IntPtr geom); | ||
1172 | |||
1173 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] | ||
1174 | public static extern int GeomTransformGetInfo(IntPtr geom); | ||
1175 | |||
1176 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] | ||
1177 | public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); | ||
1178 | |||
1179 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] | ||
1180 | public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); | ||
1181 | |||
1182 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] | ||
1183 | public static extern void GeomTransformSetInfo(IntPtr geom, int info); | ||
1184 | |||
1185 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] | ||
1186 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, | ||
1187 | double[] vertices, int vertexStride, int vertexCount, | ||
1188 | int[] indices, int indexCount, int triStride); | ||
1189 | |||
1190 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] | ||
1191 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, | ||
1192 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1193 | IntPtr indices, int indexCount, int triStride); | ||
1194 | |||
1195 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] | ||
1196 | public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, | ||
1197 | double[] vertices, int vertexStride, int vertexCount, | ||
1198 | int[] indices, int indexCount, int triStride, | ||
1199 | double[] normals); | ||
1200 | |||
1201 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] | ||
1202 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, | ||
1203 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1204 | IntPtr indices, int indexCount, int triStride, | ||
1205 | IntPtr normals); | ||
1206 | |||
1207 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] | ||
1208 | public static extern void GeomTriMeshDataBuildSingle(IntPtr d, | ||
1209 | dReal[] vertices, int vertexStride, int vertexCount, | ||
1210 | int[] indices, int indexCount, int triStride); | ||
1211 | |||
1212 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] | ||
1213 | public static extern void GeomTriMeshDataBuildSingle(IntPtr d, | ||
1214 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1215 | IntPtr indices, int indexCount, int triStride); | ||
1216 | |||
1217 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] | ||
1218 | public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, | ||
1219 | dReal[] vertices, int vertexStride, int vertexCount, | ||
1220 | int[] indices, int indexCount, int triStride, | ||
1221 | dReal[] normals); | ||
1222 | |||
1223 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] | ||
1224 | public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, | ||
1225 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1226 | IntPtr indices, int indexCount, int triStride, | ||
1227 | IntPtr normals); | ||
1228 | |||
1229 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] | ||
1230 | public static extern void GeomTriMeshDataBuildSimple(IntPtr d, | ||
1231 | float[] vertices, int vertexStride, int vertexCount, | ||
1232 | int[] indices, int indexCount, int triStride); | ||
1233 | |||
1234 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] | ||
1235 | public static extern void GeomTriMeshDataBuildSimple(IntPtr d, | ||
1236 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1237 | IntPtr indices, int indexCount, int triStride); | ||
1238 | |||
1239 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] | ||
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); | ||
1244 | |||
1245 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] | ||
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); | ||
1250 | |||
1251 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] | ||
1252 | public static extern void GeomTriMeshClearTCCache(IntPtr g); | ||
1253 | |||
1254 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] | ||
1255 | public static extern IntPtr GeomTriMeshDataCreate(); | ||
1256 | |||
1257 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] | ||
1258 | public static extern void GeomTriMeshDataDestroy(IntPtr d); | ||
1259 | |||
1260 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] | ||
1261 | public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); | ||
1262 | |||
1263 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] | ||
1264 | public static extern void GeomTriMeshDataPreprocess(IntPtr d); | ||
1265 | |||
1266 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] | ||
1267 | public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); | ||
1268 | |||
1269 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] | ||
1270 | public static extern void GeomTriMeshDataUpdate(IntPtr d); | ||
1271 | |||
1272 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] | ||
1273 | public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); | ||
1274 | |||
1275 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] | ||
1276 | public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); | ||
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 | |||
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); | ||
1293 | |||
1294 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] | ||
1295 | public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); | ||
1296 | |||
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); | ||
1299 | |||
1300 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] | ||
1301 | public extern static int GeomTriMeshGetTriangleCount(IntPtr g); | ||
1302 | |||
1303 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] | ||
1304 | public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); | ||
1305 | |||
1306 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] | ||
1307 | public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); | ||
1308 | |||
1309 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] | ||
1310 | public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); | ||
1311 | |||
1312 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] | ||
1313 | public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); | ||
1314 | |||
1315 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] | ||
1316 | public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); | ||
1317 | |||
1318 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] | ||
1319 | public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); | ||
1320 | |||
1321 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] | ||
1322 | public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); | ||
1323 | |||
1324 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] | ||
1325 | public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); | ||
1326 | |||
1327 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity] | ||
1328 | public static extern IntPtr iGetConfiguration(); | ||
1329 | |||
1330 | public static string GetConfiguration() | ||
1331 | { | ||
1332 | IntPtr ptr = iGetConfiguration(); | ||
1333 | string s = Marshal.PtrToStringAnsi(ptr); | ||
1334 | return s; | ||
1335 | } | ||
1336 | |||
1337 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] | ||
1338 | public static extern IntPtr HashSpaceCreate(IntPtr space); | ||
1339 | |||
1340 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] | ||
1341 | public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); | ||
1342 | |||
1343 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] | ||
1344 | public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); | ||
1345 | |||
1346 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] | ||
1347 | public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); | ||
1348 | |||
1349 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] | ||
1350 | public static extern void InitODE(); | ||
1351 | |||
1352 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] | ||
1353 | public static extern int InitODE2(uint ODEInitFlags); | ||
1354 | |||
1355 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] | ||
1356 | public static extern int IsPositiveDefinite(ref dReal A, int n); | ||
1357 | |||
1358 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] | ||
1359 | public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); | ||
1360 | |||
1361 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] | ||
1362 | public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); | ||
1363 | |||
1364 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] | ||
1365 | public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); | ||
1366 | |||
1367 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] | ||
1368 | public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); | ||
1369 | |||
1370 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] | ||
1371 | public static extern void JointAddPRTorque(IntPtr joint, dReal torque); | ||
1372 | |||
1373 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] | ||
1374 | public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); | ||
1375 | |||
1376 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] | ||
1377 | public static extern void JointAddSliderForce(IntPtr joint, dReal force); | ||
1378 | |||
1379 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] | ||
1380 | public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); | ||
1381 | |||
1382 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] | ||
1383 | public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); | ||
1384 | |||
1385 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] | ||
1386 | public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); | ||
1387 | |||
1388 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] | ||
1389 | public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); | ||
1390 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] | ||
1391 | public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact); | ||
1392 | |||
1393 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] | ||
1394 | public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); | ||
1395 | |||
1396 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] | ||
1397 | public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); | ||
1398 | |||
1399 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] | ||
1400 | public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); | ||
1401 | |||
1402 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] | ||
1403 | public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); | ||
1404 | |||
1405 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] | ||
1406 | public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); | ||
1407 | |||
1408 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] | ||
1409 | public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); | ||
1410 | |||
1411 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] | ||
1412 | public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); | ||
1413 | |||
1414 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] | ||
1415 | public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); | ||
1416 | |||
1417 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] | ||
1418 | public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); | ||
1419 | |||
1420 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] | ||
1421 | public static extern void JointDestroy(IntPtr j); | ||
1422 | |||
1423 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] | ||
1424 | public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); | ||
1425 | |||
1426 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] | ||
1427 | public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); | ||
1428 | |||
1429 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] | ||
1430 | public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); | ||
1431 | |||
1432 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] | ||
1433 | public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); | ||
1434 | |||
1435 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] | ||
1436 | public static extern int JointGetAMotorMode(IntPtr j); | ||
1437 | |||
1438 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] | ||
1439 | public static extern int JointGetAMotorNumAxes(IntPtr j); | ||
1440 | |||
1441 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] | ||
1442 | public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); | ||
1443 | |||
1444 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] | ||
1445 | public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); | ||
1446 | |||
1447 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] | ||
1448 | public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); | ||
1449 | |||
1450 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] | ||
1451 | public static extern IntPtr JointGetBody(IntPtr j); | ||
1452 | |||
1453 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] | ||
1454 | public static extern IntPtr JointGetData(IntPtr j); | ||
1455 | |||
1456 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] | ||
1457 | public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); | ||
1458 | public static JointFeedback JointGetFeedback(IntPtr j) | ||
1459 | { | ||
1460 | unsafe { return *(JointGetFeedbackUnsafe(j)); } | ||
1461 | } | ||
1462 | |||
1463 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] | ||
1464 | public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); | ||
1465 | |||
1466 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] | ||
1467 | public static extern dReal JointGetHingeAngle(IntPtr j); | ||
1468 | |||
1469 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] | ||
1470 | public static extern dReal JointGetHingeAngleRate(IntPtr j); | ||
1471 | |||
1472 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] | ||
1473 | public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); | ||
1474 | |||
1475 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] | ||
1476 | public static extern dReal JointGetHingeParam(IntPtr j, int parameter); | ||
1477 | |||
1478 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] | ||
1479 | public static extern dReal JointGetHinge2Angle1(IntPtr j); | ||
1480 | |||
1481 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] | ||
1482 | public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); | ||
1483 | |||
1484 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] | ||
1485 | public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); | ||
1486 | |||
1487 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] | ||
1488 | public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); | ||
1489 | |||
1490 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] | ||
1491 | public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); | ||
1492 | |||
1493 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] | ||
1494 | public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); | ||
1495 | |||
1496 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] | ||
1497 | public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); | ||
1498 | |||
1499 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] | ||
1500 | public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); | ||
1501 | |||
1502 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] | ||
1503 | public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); | ||
1504 | |||
1505 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] | ||
1506 | public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); | ||
1507 | |||
1508 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] | ||
1509 | public static extern int JointGetLMotorNumAxes(IntPtr j); | ||
1510 | |||
1511 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] | ||
1512 | public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); | ||
1513 | |||
1514 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] | ||
1515 | public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); | ||
1516 | |||
1517 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] | ||
1518 | public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); | ||
1519 | |||
1520 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] | ||
1521 | public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); | ||
1522 | |||
1523 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] | ||
1524 | public static extern dReal JointGetPRParam(IntPtr j, int parameter); | ||
1525 | |||
1526 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] | ||
1527 | public static extern dReal JointGetPRPosition(IntPtr j); | ||
1528 | |||
1529 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] | ||
1530 | public static extern dReal JointGetPRPositionRate(IntPtr j); | ||
1531 | |||
1532 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] | ||
1533 | public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); | ||
1534 | |||
1535 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] | ||
1536 | public static extern dReal JointGetSliderParam(IntPtr j, int parameter); | ||
1537 | |||
1538 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] | ||
1539 | public static extern dReal JointGetSliderPosition(IntPtr j); | ||
1540 | |||
1541 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] | ||
1542 | public static extern dReal JointGetSliderPositionRate(IntPtr j); | ||
1543 | |||
1544 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] | ||
1545 | public static extern JointType JointGetType(IntPtr j); | ||
1546 | |||
1547 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] | ||
1548 | public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); | ||
1549 | |||
1550 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] | ||
1551 | public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); | ||
1552 | |||
1553 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] | ||
1554 | public static extern dReal JointGetUniversalAngle1(IntPtr j); | ||
1555 | |||
1556 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] | ||
1557 | public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); | ||
1558 | |||
1559 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] | ||
1560 | public static extern dReal JointGetUniversalAngle2(IntPtr j); | ||
1561 | |||
1562 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] | ||
1563 | public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); | ||
1564 | |||
1565 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] | ||
1566 | public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); | ||
1567 | |||
1568 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] | ||
1569 | public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); | ||
1570 | |||
1571 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] | ||
1572 | public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); | ||
1573 | |||
1574 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] | ||
1575 | public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); | ||
1576 | |||
1577 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] | ||
1578 | public static extern IntPtr JointGroupCreate(int max_size); | ||
1579 | |||
1580 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] | ||
1581 | public static extern void JointGroupDestroy(IntPtr group); | ||
1582 | |||
1583 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] | ||
1584 | public static extern void JointGroupEmpty(IntPtr group); | ||
1585 | |||
1586 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] | ||
1587 | public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); | ||
1588 | |||
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); | ||
1591 | |||
1592 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] | ||
1593 | public static extern void JointSetAMotorMode(IntPtr j, int mode); | ||
1594 | |||
1595 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] | ||
1596 | public static extern void JointSetAMotorNumAxes(IntPtr group, int num); | ||
1597 | |||
1598 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] | ||
1599 | public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); | ||
1600 | |||
1601 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] | ||
1602 | public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1603 | |||
1604 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] | ||
1605 | public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); | ||
1606 | |||
1607 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] | ||
1608 | public static extern void JointSetData(IntPtr j, IntPtr data); | ||
1609 | |||
1610 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] | ||
1611 | public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); | ||
1612 | |||
1613 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] | ||
1614 | public static extern void JointSetFixed(IntPtr j); | ||
1615 | |||
1616 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] | ||
1617 | public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1618 | |||
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); | ||
1621 | |||
1622 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] | ||
1623 | public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); | ||
1624 | |||
1625 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] | ||
1626 | public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); | ||
1627 | |||
1628 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] | ||
1629 | public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1630 | |||
1631 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] | ||
1632 | public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); | ||
1633 | |||
1634 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] | ||
1635 | public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); | ||
1636 | |||
1637 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] | ||
1638 | public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); | ||
1639 | |||
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); | ||
1642 | |||
1643 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] | ||
1644 | public static extern void JointSetLMotorNumAxes(IntPtr j, int num); | ||
1645 | |||
1646 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] | ||
1647 | public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); | ||
1648 | |||
1649 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] | ||
1650 | public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); | ||
1651 | |||
1652 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] | ||
1653 | public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); | ||
1654 | |||
1655 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] | ||
1656 | public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); | ||
1657 | |||
1658 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] | ||
1659 | public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1660 | |||
1661 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] | ||
1662 | public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); | ||
1663 | |||
1664 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] | ||
1665 | public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); | ||
1666 | |||
1667 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] | ||
1668 | public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); | ||
1669 | |||
1670 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] | ||
1671 | public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); | ||
1672 | |||
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); | ||
1675 | |||
1676 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] | ||
1677 | public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); | ||
1678 | |||
1679 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] | ||
1680 | public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1681 | |||
1682 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] | ||
1683 | public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); | ||
1684 | |||
1685 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] | ||
1686 | public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); | ||
1687 | |||
1688 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] | ||
1689 | public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); | ||
1690 | |||
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); | ||
1693 | |||
1694 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] | ||
1695 | public static extern void MassAdd(ref Mass a, ref Mass b); | ||
1696 | |||
1697 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] | ||
1698 | public static extern void MassAdjust(ref Mass m, dReal newmass); | ||
1699 | |||
1700 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] | ||
1701 | public static extern bool MassCheck(ref Mass m); | ||
1702 | |||
1703 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] | ||
1704 | public static extern void MassRotate(ref Mass mass, ref Matrix3 R); | ||
1705 | |||
1706 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] | ||
1707 | public static extern void MassRotate(ref Mass mass, ref dReal M00); | ||
1708 | |||
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); | ||
1711 | |||
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); | ||
1714 | |||
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); | ||
1717 | |||
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); | ||
1720 | |||
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); | ||
1723 | |||
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); | ||
1726 | |||
1727 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] | ||
1728 | public static extern void MassSetParameters(out Mass mass, dReal themass, | ||
1729 | dReal cgx, dReal cgy, dReal cgz, | ||
1730 | dReal i11, dReal i22, dReal i33, | ||
1731 | dReal i12, dReal i13, dReal i23); | ||
1732 | |||
1733 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] | ||
1734 | public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); | ||
1735 | |||
1736 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] | ||
1737 | public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); | ||
1738 | |||
1739 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] | ||
1740 | public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); | ||
1741 | |||
1742 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] | ||
1743 | public static extern void MassSetZero(out Mass mass); | ||
1744 | |||
1745 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] | ||
1746 | public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); | ||
1747 | |||
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); | ||
1750 | |||
1751 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] | ||
1752 | private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r); | ||
1753 | public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector) | ||
1754 | { | ||
1755 | MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1); | ||
1756 | } | ||
1757 | |||
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); | ||
1760 | |||
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); | ||
1763 | |||
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); | ||
1766 | |||
1767 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] | ||
1768 | public static extern void QfromR(out Quaternion q, ref Matrix3 R); | ||
1769 | |||
1770 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] | ||
1771 | public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | ||
1772 | |||
1773 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] | ||
1774 | public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | ||
1775 | |||
1776 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] | ||
1777 | public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | ||
1778 | |||
1779 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] | ||
1780 | public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | ||
1781 | |||
1782 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] | ||
1783 | public static extern void QSetIdentity(out Quaternion q); | ||
1784 | |||
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); | ||
1787 | |||
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); | ||
1790 | |||
1791 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] | ||
1792 | public static extern dReal RandReal(); | ||
1793 | |||
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); | ||
1796 | |||
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); | ||
1799 | |||
1800 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] | ||
1801 | public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); | ||
1802 | |||
1803 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] | ||
1804 | public static extern void RfromQ(out Matrix3 R, ref Quaternion q); | ||
1805 | |||
1806 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] | ||
1807 | public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); | ||
1808 | |||
1809 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] | ||
1810 | public static extern void RSetIdentity(out Matrix3 R); | ||
1811 | |||
1812 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] | ||
1813 | public static extern void SetValue(out dReal a, int n); | ||
1814 | |||
1815 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] | ||
1816 | public static extern void SetZero(out dReal a, int n); | ||
1817 | |||
1818 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] | ||
1819 | public static extern IntPtr SimpleSpaceCreate(IntPtr space); | ||
1820 | |||
1821 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] | ||
1822 | public static extern void SolveCholesky(ref dReal L, out dReal b, int n); | ||
1823 | |||
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); | ||
1826 | |||
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); | ||
1829 | |||
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); | ||
1832 | |||
1833 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] | ||
1834 | public static extern void SpaceAdd(IntPtr space, IntPtr geom); | ||
1835 | |||
1836 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] | ||
1837 | public static extern bool SpaceLockQuery(IntPtr space); | ||
1838 | |||
1839 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] | ||
1840 | public static extern void SpaceClean(IntPtr space); | ||
1841 | |||
1842 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] | ||
1843 | public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); | ||
1844 | |||
1845 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] | ||
1846 | public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); | ||
1847 | |||
1848 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] | ||
1849 | public static extern void SpaceDestroy(IntPtr space); | ||
1850 | |||
1851 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] | ||
1852 | public static extern bool SpaceGetCleanup(IntPtr space); | ||
1853 | |||
1854 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] | ||
1855 | public static extern int SpaceGetNumGeoms(IntPtr space); | ||
1856 | |||
1857 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] | ||
1858 | public static extern IntPtr SpaceGetGeom(IntPtr space, int i); | ||
1859 | |||
1860 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] | ||
1861 | public static extern int SpaceGetSublevel(IntPtr space); | ||
1862 | |||
1863 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] | ||
1864 | public static extern bool SpaceQuery(IntPtr space, IntPtr geom); | ||
1865 | |||
1866 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] | ||
1867 | public static extern void SpaceRemove(IntPtr space, IntPtr geom); | ||
1868 | |||
1869 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] | ||
1870 | public static extern void SpaceSetCleanup(IntPtr space, bool mode); | ||
1871 | |||
1872 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] | ||
1873 | public static extern void SpaceSetSublevel(IntPtr space, int sublevel); | ||
1874 | |||
1875 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] | ||
1876 | public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); | ||
1877 | |||
1878 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] | ||
1879 | public static extern void VectorScale(out dReal a, ref dReal d, int n); | ||
1880 | |||
1881 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] | ||
1882 | public static extern IntPtr WorldCreate(); | ||
1883 | |||
1884 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] | ||
1885 | public static extern void WorldDestroy(IntPtr world); | ||
1886 | |||
1887 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] | ||
1888 | public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); | ||
1889 | |||
1890 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | ||
1891 | public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); | ||
1892 | |||
1893 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | ||
1894 | public static extern bool WorldGetAutoDisableFlag(IntPtr world); | ||
1895 | |||
1896 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | ||
1897 | public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); | ||
1898 | |||
1899 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | ||
1900 | public static extern int WorldGetAutoDisableSteps(IntPtr world); | ||
1901 | |||
1902 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | ||
1903 | public static extern dReal WorldGetAutoDisableTime(IntPtr world); | ||
1904 | |||
1905 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] | ||
1906 | public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); | ||
1907 | |||
1908 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] | ||
1909 | public static extern dReal WorldGetCFM(IntPtr world); | ||
1910 | |||
1911 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] | ||
1912 | public static extern dReal WorldGetERP(IntPtr world); | ||
1913 | |||
1914 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] | ||
1915 | public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); | ||
1916 | |||
1917 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] | ||
1918 | public static extern void WorldGetGravity(IntPtr world, out dReal X); | ||
1919 | |||
1920 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] | ||
1921 | public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); | ||
1922 | |||
1923 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] | ||
1924 | public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); | ||
1925 | |||
1926 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
1927 | public static extern dReal WorldGetAngularDamping(IntPtr world); | ||
1928 | |||
1929 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
1930 | public static extern dReal WorldGetAngularDampingThreshold(IntPtr world); | ||
1931 | |||
1932 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity] | ||
1933 | public static extern dReal WorldGetLinearDamping(IntPtr world); | ||
1934 | |||
1935 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
1936 | public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); | ||
1937 | |||
1938 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] | ||
1939 | public static extern int WorldGetQuickStepNumIterations(IntPtr world); | ||
1940 | |||
1941 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] | ||
1942 | public static extern dReal WorldGetQuickStepW(IntPtr world); | ||
1943 | |||
1944 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] | ||
1945 | public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); | ||
1946 | |||
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); | ||
1949 | |||
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); | ||
1952 | |||
1953 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] | ||
1954 | public static extern void WorldQuickStep(IntPtr world, dReal stepsize); | ||
1955 | |||
1956 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
1957 | public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); | ||
1958 | |||
1959 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
1960 | public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); | ||
1961 | |||
1962 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | ||
1963 | public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); | ||
1964 | |||
1965 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] | ||
1966 | public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); | ||
1967 | |||
1968 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | ||
1969 | public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); | ||
1970 | |||
1971 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | ||
1972 | public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); | ||
1973 | |||
1974 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | ||
1975 | public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); | ||
1976 | |||
1977 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | ||
1978 | public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); | ||
1979 | |||
1980 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] | ||
1981 | public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); | ||
1982 | |||
1983 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] | ||
1984 | public static extern void WorldSetCFM(IntPtr world, dReal cfm); | ||
1985 | |||
1986 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] | ||
1987 | public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); | ||
1988 | |||
1989 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] | ||
1990 | public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); | ||
1991 | |||
1992 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] | ||
1993 | public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); | ||
1994 | |||
1995 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] | ||
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); | ||
2000 | |||
2001 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] | ||
2002 | public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); | ||
2003 | |||
2004 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
2005 | public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); | ||
2006 | |||
2007 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] | ||
2008 | public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); | ||
2009 | |||
2010 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] | ||
2011 | public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); | ||
2012 | |||
2013 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] | ||
2014 | public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); | ||
2015 | |||
2016 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] | ||
2017 | public static extern void WorldStep(IntPtr world, dReal stepsize); | ||
2018 | |||
2019 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] | ||
2020 | public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); | ||
2021 | |||
2022 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] | ||
2023 | public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); | ||
2024 | } | ||
2025 | } | ||