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using System;
using System.Runtime.InteropServices;
using Ode.NET;
namespace Drawstuff.NET
{
#if dDOUBLE
using dReal = System.Double;
#else
using dReal = System.Single;
#endif
public static class ds
{
public const int VERSION = 2;
public enum Texture
{
None,
Wood
}
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate void CallbackFunction(int arg);
[StructLayout(LayoutKind.Sequential)]
public struct Functions
{
public int version;
public CallbackFunction start;
public CallbackFunction step;
public CallbackFunction command;
public CallbackFunction stop;
public string path_to_textures;
}
[DllImport("drawstuff", EntryPoint="dsDrawBox")]
public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
[DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
[DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
[DllImport("drawstuff", EntryPoint="dsSetColor")]
public static extern void SetColor(float red, float green, float blue);
[DllImport("drawstuff", EntryPoint="dsSetTexture")]
public static extern void SetTexture(Texture texture);
[DllImport("drawstuff", EntryPoint="dsSetViewpoint")]
public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
[DllImport("drawstuff", EntryPoint="dsSimulationLoop")]
public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
}
}
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