From 815f3af1d7b3bf16e81dd3a03e0c69c8e49f2f91 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Wed, 8 Feb 2012 15:24:10 +0000 Subject: UbitODE plugin initial commit --- OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs | 1903 ++++++++++++++++++++++++ 1 file changed, 1903 insertions(+) create mode 100644 OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs (limited to 'OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs new file mode 100644 index 0000000..c0c7ff3 --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs @@ -0,0 +1,1903 @@ +/* + * based on: + * Ode.NET - .NET bindings for ODE + * Jason Perkins (starkos@industriousone.com) + * Licensed under the New BSD + * Part of the OpenDynamicsEngine +Open Dynamics Engine +Copyright (c) 2001-2007, Russell L. Smith. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: + +Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. + +Redistributions in binary form must reproduce the above copyright notice, +this list of conditions and the following disclaimer in the documentation +and/or other materials provided with the distribution. + +Neither the names of ODE's copyright owner nor the names of its +contributors may be used to endorse or promote products derived from +this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED +TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * changes by opensim team; + * changes by Aurora team http://www.aurora-sim.org/ + + * Revision/fixs by Ubit Umarov + */ + +using System; +using System.Runtime.InteropServices; +using System.Security; + +namespace OdeAPI +{ +//#if dDOUBLE +// don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim +// at least we save same memory and memory access time, FPU performance on intel usually is similar +// using dReal = System.Double; +//#else + using dReal = System.Single; +//#endif + + public static class d + { + public static dReal Infinity = dReal.MaxValue; + public static int NTotalBodies = 0; + + #region Flags and Enumerations + + [Flags] + public enum AllocateODEDataFlags : uint + { + BasicData = 0, + CollisionData = 0x00000001, + All = ~0u + } + + [Flags] + public enum IniteODEFlags : uint + { + dInitFlagManualThreadCleanup = 0x00000001 + } + + [Flags] + public enum ContactFlags : int + { + Mu2 = 0x001, + FDir1 = 0x002, + Bounce = 0x004, + SoftERP = 0x008, + SoftCFM = 0x010, + Motion1 = 0x020, + Motion2 = 0x040, + MotionN = 0x080, + Slip1 = 0x100, + Slip2 = 0x200, + Approx0 = 0x0000, + Approx1_1 = 0x1000, + Approx1_2 = 0x2000, + Approx1 = 0x3000 + } + + public enum GeomClassID : int + { + SphereClass, + BoxClass, + CapsuleClass, + CylinderClass, + PlaneClass, + RayClass, + ConvexClass, + GeomTransformClass, + TriMeshClass, + HeightfieldClass, + FirstSpaceClass, + SimpleSpaceClass = FirstSpaceClass, + HashSpaceClass, + QuadTreeSpaceClass, + LastSpaceClass = QuadTreeSpaceClass, + FirstUserClass, + LastUserClass = FirstUserClass + MaxUserClasses - 1, + NumClasses, + MaxUserClasses = 4 + } + + public enum JointType : int + { + None, + Ball, + Hinge, + Slider, + Contact, + Universal, + Hinge2, + Fixed, + Null, + AMotor, + LMotor, + Plane2D + } + + public enum JointParam : int + { + LoStop, + HiStop, + Vel, + FMax, + FudgeFactor, + Bounce, + CFM, + StopERP, + StopCFM, + SuspensionERP, + SuspensionCFM, + LoStop2 = 256, + HiStop2, + Vel2, + FMax2, + FudgeFactor2, + Bounce2, + CFM2, + StopERP2, + StopCFM2, + SuspensionERP2, + SuspensionCFM2, + LoStop3 = 512, + HiStop3, + Vel3, + FMax3, + FudgeFactor3, + Bounce3, + CFM3, + StopERP3, + StopCFM3, + SuspensionERP3, + SuspensionCFM3 + } + + public enum dSweepAndPruneAxis : int + { + XYZ = ((0)|(1<<2)|(2<<4)), + XZY = ((0)|(2<<2)|(1<<4)), + YXZ = ((1)|(0<<2)|(2<<4)), + YZX = ((1)|(2<<2)|(0<<4)), + ZXY = ((2)|(0<<2)|(1<<4)), + ZYX = ((2)|(1<<2)|(0<<4)) + } + + #endregion + + #region Callbacks + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void GetAABBFn(IntPtr geom, out AABB aabb); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate ColliderFn GetColliderFnFn(int num); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void GeomDtorFn(IntPtr o); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); + + #endregion + + #region Structs + + [StructLayout(LayoutKind.Sequential)] + public struct AABB + { + public dReal MinX, MaxX; + public dReal MinY, MaxY; + public dReal MinZ, MaxZ; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Contact + { + public SurfaceParameters surface; + public ContactGeom geom; + public Vector3 fdir1; + public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact)); + } + + + [StructLayout(LayoutKind.Sequential)] + public struct ContactGeom + { + + public Vector3 pos; + public Vector3 normal; + public dReal depth; + public IntPtr g1; + public IntPtr g2; + public int side1; + public int side2; + public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom)); + } + + [StructLayout(LayoutKind.Sequential)] + public struct GeomClass + { + public int bytes; + public GetColliderFnFn collider; + public GetAABBFn aabb; + public AABBTestFn aabb_test; + public GeomDtorFn dtor; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct JointFeedback + { + public Vector3 f1; + public Vector3 t1; + public Vector3 f2; + public Vector3 t2; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Mass + { + public dReal mass; + public Vector4 c; + public Matrix3 I; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Matrix3 + { + public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) + { + M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; + M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; + M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; + } + public dReal M00, M10, M20; + private dReal _m30; + public dReal M01, M11, M21; + private dReal _m31; + public dReal M02, M12, M22; + private dReal _m32; + } + + [StructLayout(LayoutKind.Sequential)] + public struct Matrix4 + { + public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, + dReal m01, dReal m11, dReal m21, dReal m31, + dReal m02, dReal m12, dReal m22, dReal m32, + dReal m03, dReal m13, dReal m23, dReal m33) + { + M00 = m00; M10 = m10; M20 = m20; M30 = m30; + M01 = m01; M11 = m11; M21 = m21; M31 = m31; + M02 = m02; M12 = m12; M22 = m22; M32 = m32; + M03 = m03; M13 = m13; M23 = m23; M33 = m33; + } + public dReal M00, M10, M20, M30; + public dReal M01, M11, M21, M31; + public dReal M02, M12, M22, M32; + public dReal M03, M13, M23, M33; + } + + [StructLayout(LayoutKind.Sequential)] + public struct Quaternion + { + public dReal W, X, Y, Z; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct SurfaceParameters + { + public ContactFlags mode; + public dReal mu; + public dReal mu2; + public dReal bounce; + public dReal bounce_vel; + public dReal soft_erp; + public dReal soft_cfm; + public dReal motion1; + public dReal motion2; + public dReal motionN; + public dReal slip1; + public dReal slip2; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Vector3 + { + public Vector3(dReal x, dReal y, dReal z) + { + X = x; Y = y; Z = z; _w = 0.0f; + } + public dReal X, Y, Z; + private dReal _w; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Vector4 + { + public Vector4(dReal x, dReal y, dReal z, dReal w) + { + X = x; Y = y; Z = z; W = w; + } + public dReal X, Y, Z, W; + } + + #endregion + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] + public static extern int AllocateODEDataForThread(uint ODEInitFlags); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] + public static extern bool AreConnected(IntPtr b1, IntPtr b2); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] + public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyPosition(IntPtr body, out dReal X); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyRotation(IntPtr body, out dReal M00); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr BodyiCreate(IntPtr world); + public static IntPtr BodyCreate(IntPtr world) + { + NTotalBodies++; + return BodyiCreate(world); + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void BodyiDestroy(IntPtr body); + public static void BodyDestroy(IntPtr body) + { + NTotalBodies--; + BodyiDestroy(body); + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] + public static extern void BodyDisable(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] + public static extern void BodyEnable(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] + public static extern bool BodyGetAutoDisableFlag(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetAutoDisableDefaults(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] + public static extern int BodyGetAutoDisableSteps(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAutoDisableTime(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); + public static Vector3 BodyGetAngularVel(IntPtr body) + { + unsafe { return *(BodyGetAngularVelUnsafe(body)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr BodyGetData(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] + public static extern int BodyGetFiniteRotationMode(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); + public static Vector3 BodyGetForce(IntPtr body) + { + unsafe { return *(BodyGetForceUnsafe(body)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] + public static extern bool BodyGetGravityMode(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] + public static extern int BodyGetGyroscopicMode(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr BodyGetJoint(IntPtr body, int index); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); + public static Vector3 BodyGetLinearVel(IntPtr body) + { + unsafe { return *(BodyGetLinearVelUnsafe(body)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetMass(IntPtr body, out Mass mass); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] + public static extern int BodyGetNumJoints(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); + public static Vector3 BodyGetPosition(IntPtr body) + { + unsafe { return *(BodyGetPositionUnsafe(body)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); + public static Quaternion BodyGetQuaternion(IntPtr body) + { + unsafe { return *(BodyGetQuaternionUnsafe(body)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); + public static Matrix3 BodyGetRotation(IntPtr body) + { + unsafe { return *(BodyGetRotationUnsafe(body)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); + public static Vector3 BodyGetTorque(IntPtr body) + { + unsafe { return *(BodyGetTorqueUnsafe(body)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr BodyGetWorld(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr BodyGetFirstGeom(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr dBodyGetNextGeom(IntPtr Geom); + + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] + public static extern bool BodyIsEnabled(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableDefaults(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetData(IntPtr body, IntPtr data); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetLinearDamping(IntPtr body, dReal scale); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAngularDamping(IntPtr body, dReal scale); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetLinearDamping(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAngularDamping(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetLinearDampingThreshold(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetGravityMode(IntPtr body, bool mode); + + /// + /// Sets the Gyroscopic term status on the body specified. + /// + /// Pointer to body + /// NonZero enabled, Zero disabled + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] + public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetMass(IntPtr body, ref Mass mass); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetQuaternion(IntPtr body, ref dReal w); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetRotation(IntPtr body, ref dReal M00); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] + public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] + public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] + public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, + ref Vector3 side1, ref Vector3 p2, + ref Matrix3 R2, ref Vector3 side2, + ref Vector3 normal, out dReal depth, out int return_code, + int maxc, out ContactGeom contact, int skip); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] + public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, + ref Vector3 side1, ref Vector3 _p2, + ref Matrix3 R2, ref Vector3 side2); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] + public static extern void CleanupODEAllDataForThread(); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] + public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, + ref Vector3 b1, ref Vector3 b2, + ref Vector3 cp1, ref Vector3 cp2); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] + public static extern void CloseODE(); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] + public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] + public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateGeom(int classnum); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] + public static extern int CreateGeomClass(ref GeomClass classptr); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateGeomTransform(IntPtr space); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateRay(IntPtr space, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateSphere(IntPtr space, dReal radius); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateTriMesh(IntPtr space, IntPtr data, + TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] + public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] + public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] + public static extern int FactorCholesky(ref dReal A00, int n); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] + public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] + public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] + public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] + public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] + public static extern void GeomClearOffset(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyPosition(IntPtr geom, out dReal X); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void GeomDestroy(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] + public static extern void GeomDisable(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] + public static extern void GeomEnable(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] + public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] + public static extern void GeomGetAABB(IntPtr geom, out dReal minX); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomGetBody(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] + public static extern int GeomGetCategoryBits(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomGetClassData(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] + public static extern int GeomGetCollideBits(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] + public static extern GeomClassID GeomGetClass(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomGetData(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); + public static Vector3 GeomGetOffsetPosition(IntPtr geom) + { + unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); + public static Matrix3 GeomGetOffsetRotation(IntPtr geom) + { + unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); + public static Vector3 GeomGetPosition(IntPtr geom) + { + unsafe { return *(GeomGetPositionUnsafe(geom)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); + public static Matrix3 GeomGetRotation(IntPtr geom) + { + unsafe { return *(GeomGetRotationUnsafe(geom)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomGetSpace(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomHeightfieldDataCreate(); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataDestroy(IntPtr d); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] + public static extern bool GeomIsEnabled(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] + public static extern bool GeomIsOffset(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] + public static extern bool GeomIsSpace(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] + public static extern int GeomRayGetClosestHit(IntPtr ray); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomRayGetLength(IntPtr ray); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRaySetLength(IntPtr ray, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetBody(IntPtr geom, IntPtr body); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetCategoryBits(IntPtr geom, int bits); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetCollideBits(IntPtr geom, int bits); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetData(IntPtr geom, IntPtr data); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomSphereGetRadius(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] + public static extern int GeomTransformGetCleanup(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTransformGetGeom(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] + public static extern int GeomTransformGetInfo(IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTransformSetInfo(IntPtr geom, int info); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildDouble(IntPtr d, + double[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildDouble(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, + double[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride, + double[] normals); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildDouble(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride, + IntPtr normals); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSingle(IntPtr d, + dReal[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSingle(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, + dReal[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride, + dReal[] normals); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride, + IntPtr normals); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSimple(IntPtr d, + float[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSimple(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, + float[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride, + float[] normals); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride, + IntPtr normals); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshClearTCCache(IntPtr g); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTriMeshDataCreate(); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataDestroy(IntPtr d); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataPreprocess(IntPtr d); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataUpdate(IntPtr d); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] + public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] + public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTriMeshGetData(IntPtr g); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); + public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) + { + unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] + public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] + public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] + public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] + public extern static int GeomTriMeshGetTriangleCount(IntPtr g); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] + public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity] + public static extern string GetConfiguration(string str); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr HashSpaceCreate(IntPtr space); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] + public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] + public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] + public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] + public static extern void InitODE(); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] + public static extern int InitODE2(uint ODEInitFlags); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] + public static extern int IsPositiveDefinite(ref dReal A, int n); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] + public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddPRTorque(IntPtr joint, dReal torque); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddSliderForce(IntPtr joint, dReal force); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] + public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void JointDestroy(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] + public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] + public static extern int JointGetAMotorMode(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] + public static extern int JointGetAMotorNumAxes(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointGetBody(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointGetData(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] + public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); + public static JointFeedback JointGetFeedback(IntPtr j) + { + unsafe { return *(JointGetFeedbackUnsafe(j)); } + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHingeAngle(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHingeAngleRate(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHingeParam(IntPtr j, int parameter); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHinge2Angle1(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] + public static extern int JointGetLMotorNumAxes(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetPRParam(IntPtr j, int parameter); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetPRPosition(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetPRPositionRate(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetSliderParam(IntPtr j, int parameter); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetSliderPosition(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetSliderPositionRate(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] + public static extern JointType JointGetType(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalAngle1(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalAngle2(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointGroupCreate(int max_size); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void JointGroupDestroy(IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] + public static extern void JointGroupEmpty(IntPtr group); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorMode(IntPtr j, int mode); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorNumAxes(IntPtr group, int num); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetData(IntPtr j, IntPtr data); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetFixed(IntPtr j); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetLMotorNumAxes(IntPtr j, int num); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] + public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] + public static extern void MassAdd(ref Mass a, ref Mass b); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] + public static extern void MassAdjust(ref Mass m, dReal newmass); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] + public static extern bool MassCheck(ref Mass m); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] + public static extern void MassRotate(ref Mass mass, ref Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] + public static extern void MassRotate(ref Mass mass, ref dReal M00); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetParameters(out Mass mass, dReal themass, + dReal cgx, dReal cgy, dReal cgz, + dReal i11, dReal i22, dReal i33, + dReal i12, dReal i13, dReal i23); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] + public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetZero(out Mass mass); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] + public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] + public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] + private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r); + public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector) + { + MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1); + } + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] + public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] + public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] + public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] + public static extern void QfromR(out Quaternion q, ref Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] + public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] + public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] + public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] + public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] + public static extern void QSetIdentity(out Quaternion q); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] + public static extern dReal RandReal(); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] + public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] + public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] + public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] + public static extern void RfromQ(out Matrix3 R, ref Quaternion q); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] + public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] + public static extern void RSetIdentity(out Matrix3 R); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] + public static extern void SetValue(out dReal a, int n); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] + public static extern void SetZero(out dReal a, int n); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr SimpleSpaceCreate(IntPtr space); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] + public static extern void SolveCholesky(ref dReal L, out dReal b, int n); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] + public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] + public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] + public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceAdd(IntPtr space, IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] + public static extern bool SpaceLockQuery(IntPtr space); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceClean(IntPtr space); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceDestroy(IntPtr space); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] + public static extern bool SpaceGetCleanup(IntPtr space); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] + public static extern int SpaceGetNumGeoms(IntPtr space); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr SpaceGetGeom(IntPtr space, int i); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] + public static extern int SpaceGetSublevel(IntPtr space); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] + public static extern bool SpaceQuery(IntPtr space, IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceRemove(IntPtr space, IntPtr geom); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceSetCleanup(IntPtr space, bool mode); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceSetSublevel(IntPtr space, int sublevel); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] + public static extern void VectorScale(out dReal a, ref dReal d, int n); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr WorldCreate(); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void WorldDestroy(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] + public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] + public static extern bool WorldGetAutoDisableFlag(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] + public static extern int WorldGetAutoDisableSteps(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAutoDisableTime(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] + public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetCFM(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetERP(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] + public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] + public static extern void WorldGetGravity(IntPtr world, out dReal X); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAngularDamping(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAngularDampingThreshold(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetLinearDamping(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] + public static extern int WorldGetQuickStepNumIterations(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetQuickStepW(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] + public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] + public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] + public static extern void WorldQuickStep(IntPtr world, dReal stepsize); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetCFM(IntPtr world, dReal cfm); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetERP(IntPtr world, dReal erp); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] + public static extern void WorldStep(IntPtr world, dReal stepsize); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] + public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); + + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] + public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); + } +} -- cgit v1.1