diff options
author | Melanie Thielker | 2017-01-05 19:07:37 +0000 |
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committer | Melanie Thielker | 2017-01-05 19:07:37 +0000 |
commit | b16abc8166c29585cb76cc55c3bdd76e5833cb4f (patch) | |
tree | 6a34f465a74b7a3a6dc00a3d7aa8dcc25ac3e3a5 /OpenSim/Region/PhysicsModules/Ode | |
parent | Make it possible to disable the bakes module in the way it is described in co... (diff) | |
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Massive tab and trailing space cleanup
Diffstat (limited to 'OpenSim/Region/PhysicsModules/Ode')
-rw-r--r-- | OpenSim/Region/PhysicsModules/Ode/ODEApi.cs | 2470 | ||||
-rw-r--r-- | OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs | 20 | ||||
-rw-r--r-- | OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs | 2 | ||||
-rw-r--r-- | OpenSim/Region/PhysicsModules/Ode/ODEModule.cs | 8 | ||||
-rw-r--r-- | OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs | 92 | ||||
-rw-r--r-- | OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs | 14 | ||||
-rw-r--r-- | OpenSim/Region/PhysicsModules/Ode/OdeScene.cs | 78 |
7 files changed, 1342 insertions, 1342 deletions
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs b/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs index 12086c8..c851b12 100644 --- a/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs +++ b/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs | |||
@@ -34,8 +34,8 @@ PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF | |||
34 | LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING | 34 | LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING |
35 | NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | 35 | NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
36 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 36 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
37 | * | 37 | * |
38 | * changes by opensim team; | 38 | * changes by opensim team; |
39 | * changes by Aurora team http://www.aurora-sim.org/ | 39 | * changes by Aurora team http://www.aurora-sim.org/ |
40 | * changes by Ubit Umarov | 40 | * changes by Ubit Umarov |
41 | */ | 41 | */ |
@@ -52,18 +52,18 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
52 | // at least we save same memory and memory access time, FPU performance on intel usually is similar | 52 | // at least we save same memory and memory access time, FPU performance on intel usually is similar |
53 | // using dReal = System.Double; | 53 | // using dReal = System.Double; |
54 | //#else | 54 | //#else |
55 | using dReal = System.Single; | 55 | using dReal = System.Single; |
56 | //#endif | 56 | //#endif |
57 | 57 | ||
58 | public static class d | 58 | public static class d |
59 | { | 59 | { |
60 | public static dReal Infinity = dReal.MaxValue; | 60 | public static dReal Infinity = dReal.MaxValue; |
61 | public static int NTotalBodies = 0; | 61 | public static int NTotalBodies = 0; |
62 | public static int NTotalGeoms = 0; | 62 | public static int NTotalGeoms = 0; |
63 | 63 | ||
64 | public const uint CONTACTS_UNIMPORTANT = 0x80000000; | 64 | public const uint CONTACTS_UNIMPORTANT = 0x80000000; |
65 | 65 | ||
66 | #region Flags and Enumerations | 66 | #region Flags and Enumerations |
67 | 67 | ||
68 | [Flags] | 68 | [Flags] |
69 | public enum AllocateODEDataFlags : uint | 69 | public enum AllocateODEDataFlags : uint |
@@ -79,101 +79,101 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
79 | dInitFlagManualThreadCleanup = 0x00000001 | 79 | dInitFlagManualThreadCleanup = 0x00000001 |
80 | } | 80 | } |
81 | 81 | ||
82 | [Flags] | 82 | [Flags] |
83 | public enum ContactFlags : int | 83 | public enum ContactFlags : int |
84 | { | 84 | { |
85 | Mu2 = 0x001, | 85 | Mu2 = 0x001, |
86 | FDir1 = 0x002, | 86 | FDir1 = 0x002, |
87 | Bounce = 0x004, | 87 | Bounce = 0x004, |
88 | SoftERP = 0x008, | 88 | SoftERP = 0x008, |
89 | SoftCFM = 0x010, | 89 | SoftCFM = 0x010, |
90 | Motion1 = 0x020, | 90 | Motion1 = 0x020, |
91 | Motion2 = 0x040, | 91 | Motion2 = 0x040, |
92 | MotionN = 0x080, | 92 | MotionN = 0x080, |
93 | Slip1 = 0x100, | 93 | Slip1 = 0x100, |
94 | Slip2 = 0x200, | 94 | Slip2 = 0x200, |
95 | Approx0 = 0x0000, | 95 | Approx0 = 0x0000, |
96 | Approx1_1 = 0x1000, | 96 | Approx1_1 = 0x1000, |
97 | Approx1_2 = 0x2000, | 97 | Approx1_2 = 0x2000, |
98 | Approx1 = 0x3000 | 98 | Approx1 = 0x3000 |
99 | } | 99 | } |
100 | 100 | ||
101 | public enum GeomClassID : int | 101 | public enum GeomClassID : int |
102 | { | 102 | { |
103 | SphereClass, | 103 | SphereClass, |
104 | BoxClass, | 104 | BoxClass, |
105 | CapsuleClass, | 105 | CapsuleClass, |
106 | CylinderClass, | 106 | CylinderClass, |
107 | PlaneClass, | 107 | PlaneClass, |
108 | RayClass, | 108 | RayClass, |
109 | ConvexClass, | 109 | ConvexClass, |
110 | GeomTransformClass, | 110 | GeomTransformClass, |
111 | TriMeshClass, | 111 | TriMeshClass, |
112 | HeightfieldClass, | 112 | HeightfieldClass, |
113 | FirstSpaceClass, | 113 | FirstSpaceClass, |
114 | SimpleSpaceClass = FirstSpaceClass, | 114 | SimpleSpaceClass = FirstSpaceClass, |
115 | HashSpaceClass, | 115 | HashSpaceClass, |
116 | QuadTreeSpaceClass, | 116 | QuadTreeSpaceClass, |
117 | LastSpaceClass = QuadTreeSpaceClass, | 117 | LastSpaceClass = QuadTreeSpaceClass, |
118 | ubtTerrainClass, | 118 | ubtTerrainClass, |
119 | FirstUserClass, | 119 | FirstUserClass, |
120 | LastUserClass = FirstUserClass + MaxUserClasses - 1, | 120 | LastUserClass = FirstUserClass + MaxUserClasses - 1, |
121 | NumClasses, | 121 | NumClasses, |
122 | MaxUserClasses = 5 | 122 | MaxUserClasses = 5 |
123 | } | 123 | } |
124 | 124 | ||
125 | public enum JointType : int | 125 | public enum JointType : int |
126 | { | 126 | { |
127 | None, | 127 | None, |
128 | Ball, | 128 | Ball, |
129 | Hinge, | 129 | Hinge, |
130 | Slider, | 130 | Slider, |
131 | Contact, | 131 | Contact, |
132 | Universal, | 132 | Universal, |
133 | Hinge2, | 133 | Hinge2, |
134 | Fixed, | 134 | Fixed, |
135 | Null, | 135 | Null, |
136 | AMotor, | 136 | AMotor, |
137 | LMotor, | 137 | LMotor, |
138 | Plane2D | 138 | Plane2D |
139 | } | 139 | } |
140 | 140 | ||
141 | public enum JointParam : int | 141 | public enum JointParam : int |
142 | { | 142 | { |
143 | LoStop, | 143 | LoStop, |
144 | HiStop, | 144 | HiStop, |
145 | Vel, | 145 | Vel, |
146 | FMax, | 146 | FMax, |
147 | FudgeFactor, | 147 | FudgeFactor, |
148 | Bounce, | 148 | Bounce, |
149 | CFM, | 149 | CFM, |
150 | StopERP, | 150 | StopERP, |
151 | StopCFM, | 151 | StopCFM, |
152 | SuspensionERP, | 152 | SuspensionERP, |
153 | SuspensionCFM, | 153 | SuspensionCFM, |
154 | LoStop2 = 256, | 154 | LoStop2 = 256, |
155 | HiStop2, | 155 | HiStop2, |
156 | Vel2, | 156 | Vel2, |
157 | FMax2, | 157 | FMax2, |
158 | FudgeFactor2, | 158 | FudgeFactor2, |
159 | Bounce2, | 159 | Bounce2, |
160 | CFM2, | 160 | CFM2, |
161 | StopERP2, | 161 | StopERP2, |
162 | StopCFM2, | 162 | StopCFM2, |
163 | SuspensionERP2, | 163 | SuspensionERP2, |
164 | SuspensionCFM2, | 164 | SuspensionCFM2, |
165 | LoStop3 = 512, | 165 | LoStop3 = 512, |
166 | HiStop3, | 166 | HiStop3, |
167 | Vel3, | 167 | Vel3, |
168 | FMax3, | 168 | FMax3, |
169 | FudgeFactor3, | 169 | FudgeFactor3, |
170 | Bounce3, | 170 | Bounce3, |
171 | CFM3, | 171 | CFM3, |
172 | StopERP3, | 172 | StopERP3, |
173 | StopCFM3, | 173 | StopCFM3, |
174 | SuspensionERP3, | 174 | SuspensionERP3, |
175 | SuspensionCFM3 | 175 | SuspensionCFM3 |
176 | } | 176 | } |
177 | 177 | ||
178 | public enum dSweepAndPruneAxis : int | 178 | public enum dSweepAndPruneAxis : int |
179 | { | 179 | { |
@@ -185,24 +185,24 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
185 | ZYX = ((2)|(1<<2)|(0<<4)) | 185 | ZYX = ((2)|(1<<2)|(0<<4)) |
186 | } | 186 | } |
187 | 187 | ||
188 | #endregion | 188 | #endregion |
189 | 189 | ||
190 | #region Callbacks | 190 | #region Callbacks |
191 | 191 | ||
192 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 192 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
193 | public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); | 193 | public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); |
194 | 194 | ||
195 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 195 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
196 | public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); | 196 | public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); |
197 | 197 | ||
198 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 198 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
199 | public delegate void GetAABBFn(IntPtr geom, out AABB aabb); | 199 | public delegate void GetAABBFn(IntPtr geom, out AABB aabb); |
200 | 200 | ||
201 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 201 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
202 | public delegate ColliderFn GetColliderFnFn(int num); | 202 | public delegate ColliderFn GetColliderFnFn(int num); |
203 | 203 | ||
204 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 204 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
205 | public delegate void GeomDtorFn(IntPtr o); | 205 | public delegate void GeomDtorFn(IntPtr o); |
206 | 206 | ||
207 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 207 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
208 | public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); | 208 | public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); |
@@ -210,230 +210,230 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
210 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 210 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
211 | public delegate dReal OSTerrainGetHeight(IntPtr p_user_data, int x, int z); | 211 | public delegate dReal OSTerrainGetHeight(IntPtr p_user_data, int x, int z); |
212 | 212 | ||
213 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 213 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
214 | public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); | 214 | public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); |
215 | 215 | ||
216 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 216 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
217 | public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); | 217 | public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); |
218 | 218 | ||
219 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 219 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
220 | public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); | 220 | public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); |
221 | 221 | ||
222 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 222 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
223 | public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); | 223 | public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); |
224 | 224 | ||
225 | #endregion | 225 | #endregion |
226 | 226 | ||
227 | #region Structs | 227 | #region Structs |
228 | 228 | ||
229 | [StructLayout(LayoutKind.Sequential)] | 229 | [StructLayout(LayoutKind.Sequential)] |
230 | public struct AABB | 230 | public struct AABB |
231 | { | 231 | { |
232 | public dReal MinX, MaxX; | 232 | public dReal MinX, MaxX; |
233 | public dReal MinY, MaxY; | 233 | public dReal MinY, MaxY; |
234 | public dReal MinZ, MaxZ; | 234 | public dReal MinZ, MaxZ; |
235 | } | 235 | } |
236 | 236 | ||
237 | 237 | ||
238 | [StructLayout(LayoutKind.Sequential)] | 238 | [StructLayout(LayoutKind.Sequential)] |
239 | public struct Contact | 239 | public struct Contact |
240 | { | 240 | { |
241 | public SurfaceParameters surface; | 241 | public SurfaceParameters surface; |
242 | public ContactGeom geom; | 242 | public ContactGeom geom; |
243 | public Vector3 fdir1; | 243 | public Vector3 fdir1; |
244 | public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact)); | 244 | public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact)); |
245 | } | 245 | } |
246 | 246 | ||
247 | 247 | ||
248 | [StructLayout(LayoutKind.Sequential)] | 248 | [StructLayout(LayoutKind.Sequential)] |
249 | public struct ContactGeom | 249 | public struct ContactGeom |
250 | { | 250 | { |
251 | 251 | ||
252 | public Vector3 pos; | 252 | public Vector3 pos; |
253 | public Vector3 normal; | 253 | public Vector3 normal; |
254 | public dReal depth; | 254 | public dReal depth; |
255 | public IntPtr g1; | 255 | public IntPtr g1; |
256 | public IntPtr g2; | 256 | public IntPtr g2; |
257 | public int side1; | 257 | public int side1; |
258 | public int side2; | 258 | public int side2; |
259 | public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom)); | 259 | public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom)); |
260 | } | 260 | } |
261 | 261 | ||
262 | [StructLayout(LayoutKind.Sequential)] | 262 | [StructLayout(LayoutKind.Sequential)] |
263 | public struct GeomClass | 263 | public struct GeomClass |
264 | { | 264 | { |
265 | public int bytes; | 265 | public int bytes; |
266 | public GetColliderFnFn collider; | 266 | public GetColliderFnFn collider; |
267 | public GetAABBFn aabb; | 267 | public GetAABBFn aabb; |
268 | public AABBTestFn aabb_test; | 268 | public AABBTestFn aabb_test; |
269 | public GeomDtorFn dtor; | 269 | public GeomDtorFn dtor; |
270 | } | 270 | } |
271 | 271 | ||
272 | 272 | ||
273 | [StructLayout(LayoutKind.Sequential)] | 273 | [StructLayout(LayoutKind.Sequential)] |
274 | public struct JointFeedback | 274 | public struct JointFeedback |
275 | { | 275 | { |
276 | public Vector3 f1; | 276 | public Vector3 f1; |
277 | public Vector3 t1; | 277 | public Vector3 t1; |
278 | public Vector3 f2; | 278 | public Vector3 f2; |
279 | public Vector3 t2; | 279 | public Vector3 t2; |
280 | } | 280 | } |
281 | 281 | ||
282 | 282 | ||
283 | [StructLayout(LayoutKind.Sequential)] | 283 | [StructLayout(LayoutKind.Sequential)] |
284 | public struct Mass | 284 | public struct Mass |
285 | { | 285 | { |
286 | public dReal mass; | 286 | public dReal mass; |
287 | public Vector4 c; | 287 | public Vector4 c; |
288 | public Matrix3 I; | 288 | public Matrix3 I; |
289 | } | 289 | } |
290 | 290 | ||
291 | 291 | ||
292 | [StructLayout(LayoutKind.Sequential)] | 292 | [StructLayout(LayoutKind.Sequential)] |
293 | public struct Matrix3 | 293 | public struct Matrix3 |
294 | { | 294 | { |
295 | public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) | 295 | public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) |
296 | { | 296 | { |
297 | M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; | 297 | M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; |
298 | M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; | 298 | M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; |
299 | M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; | 299 | M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; |
300 | } | 300 | } |
301 | public dReal M00, M10, M20; | 301 | public dReal M00, M10, M20; |
302 | private dReal _m30; | 302 | private dReal _m30; |
303 | public dReal M01, M11, M21; | 303 | public dReal M01, M11, M21; |
304 | private dReal _m31; | 304 | private dReal _m31; |
305 | public dReal M02, M12, M22; | 305 | public dReal M02, M12, M22; |
306 | private dReal _m32; | 306 | private dReal _m32; |
307 | } | 307 | } |
308 | 308 | ||
309 | [StructLayout(LayoutKind.Sequential)] | 309 | [StructLayout(LayoutKind.Sequential)] |
310 | public struct Matrix4 | 310 | public struct Matrix4 |
311 | { | 311 | { |
312 | public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, | 312 | public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, |
313 | dReal m01, dReal m11, dReal m21, dReal m31, | 313 | dReal m01, dReal m11, dReal m21, dReal m31, |
314 | dReal m02, dReal m12, dReal m22, dReal m32, | 314 | dReal m02, dReal m12, dReal m22, dReal m32, |
315 | dReal m03, dReal m13, dReal m23, dReal m33) | 315 | dReal m03, dReal m13, dReal m23, dReal m33) |
316 | { | 316 | { |
317 | M00 = m00; M10 = m10; M20 = m20; M30 = m30; | 317 | M00 = m00; M10 = m10; M20 = m20; M30 = m30; |
318 | M01 = m01; M11 = m11; M21 = m21; M31 = m31; | 318 | M01 = m01; M11 = m11; M21 = m21; M31 = m31; |
319 | M02 = m02; M12 = m12; M22 = m22; M32 = m32; | 319 | M02 = m02; M12 = m12; M22 = m22; M32 = m32; |
320 | M03 = m03; M13 = m13; M23 = m23; M33 = m33; | 320 | M03 = m03; M13 = m13; M23 = m23; M33 = m33; |
321 | } | 321 | } |
322 | public dReal M00, M10, M20, M30; | 322 | public dReal M00, M10, M20, M30; |
323 | public dReal M01, M11, M21, M31; | 323 | public dReal M01, M11, M21, M31; |
324 | public dReal M02, M12, M22, M32; | 324 | public dReal M02, M12, M22, M32; |
325 | public dReal M03, M13, M23, M33; | 325 | public dReal M03, M13, M23, M33; |
326 | } | 326 | } |
327 | 327 | ||
328 | [StructLayout(LayoutKind.Sequential)] | 328 | [StructLayout(LayoutKind.Sequential)] |
329 | public struct Quaternion | 329 | public struct Quaternion |
330 | { | 330 | { |
331 | public dReal W, X, Y, Z; | 331 | public dReal W, X, Y, Z; |
332 | } | 332 | } |
333 | 333 | ||
334 | 334 | ||
335 | [StructLayout(LayoutKind.Sequential)] | 335 | [StructLayout(LayoutKind.Sequential)] |
336 | public struct SurfaceParameters | 336 | public struct SurfaceParameters |
337 | { | 337 | { |
338 | public ContactFlags mode; | 338 | public ContactFlags mode; |
339 | public dReal mu; | 339 | public dReal mu; |
340 | public dReal mu2; | 340 | public dReal mu2; |
341 | public dReal bounce; | 341 | public dReal bounce; |
342 | public dReal bounce_vel; | 342 | public dReal bounce_vel; |
343 | public dReal soft_erp; | 343 | public dReal soft_erp; |
344 | public dReal soft_cfm; | 344 | public dReal soft_cfm; |
345 | public dReal motion1; | 345 | public dReal motion1; |
346 | public dReal motion2; | 346 | public dReal motion2; |
347 | public dReal motionN; | 347 | public dReal motionN; |
348 | public dReal slip1; | 348 | public dReal slip1; |
349 | public dReal slip2; | 349 | public dReal slip2; |
350 | } | 350 | } |
351 | 351 | ||
352 | 352 | ||
353 | [StructLayout(LayoutKind.Sequential)] | 353 | [StructLayout(LayoutKind.Sequential)] |
354 | public struct Vector3 | 354 | public struct Vector3 |
355 | { | 355 | { |
356 | public Vector3(dReal x, dReal y, dReal z) | 356 | public Vector3(dReal x, dReal y, dReal z) |
357 | { | 357 | { |
358 | X = x; Y = y; Z = z; _w = 0.0f; | 358 | X = x; Y = y; Z = z; _w = 0.0f; |
359 | } | 359 | } |
360 | public dReal X, Y, Z; | 360 | public dReal X, Y, Z; |
361 | private dReal _w; | 361 | private dReal _w; |
362 | } | 362 | } |
363 | 363 | ||
364 | 364 | ||
365 | [StructLayout(LayoutKind.Sequential)] | 365 | [StructLayout(LayoutKind.Sequential)] |
366 | public struct Vector4 | 366 | public struct Vector4 |
367 | { | 367 | { |
368 | public Vector4(dReal x, dReal y, dReal z, dReal w) | 368 | public Vector4(dReal x, dReal y, dReal z, dReal w) |
369 | { | 369 | { |
370 | X = x; Y = y; Z = z; W = w; | 370 | X = x; Y = y; Z = z; W = w; |
371 | } | 371 | } |
372 | public dReal X, Y, Z, W; | 372 | public dReal X, Y, Z, W; |
373 | } | 373 | } |
374 | 374 | ||
375 | #endregion | 375 | #endregion |
376 | 376 | ||
377 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] | 377 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] |
378 | public static extern int AllocateODEDataForThread(uint ODEInitFlags); | 378 | public static extern int AllocateODEDataForThread(uint ODEInitFlags); |
379 | 379 | ||
380 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] | 380 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] |
381 | public static extern bool AreConnected(IntPtr b1, IntPtr b2); | 381 | public static extern bool AreConnected(IntPtr b1, IntPtr b2); |
382 | 382 | ||
383 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] | 383 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] |
384 | public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); | 384 | public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); |
385 | 385 | ||
386 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] | 386 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] |
387 | public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); | 387 | public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); |
388 | 388 | ||
389 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] | 389 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] |
390 | public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); | 390 | public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); |
391 | 391 | ||
392 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] | 392 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] |
393 | public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); | 393 | public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); |
394 | 394 | ||
395 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] | 395 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] |
396 | public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); | 396 | public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); |
397 | 397 | ||
398 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] | 398 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] |
399 | public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); | 399 | public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); |
400 | 400 | ||
401 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] | 401 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] |
402 | public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); | 402 | public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); |
403 | 403 | ||
404 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] | 404 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] |
405 | public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); | 405 | public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); |
406 | 406 | ||
407 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] | 407 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] |
408 | public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); | 408 | public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); |
409 | 409 | ||
410 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] | 410 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] |
411 | public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); | 411 | public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); |
412 | 412 | ||
413 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] | 413 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] |
414 | public static extern void BodyCopyPosition(IntPtr body, out dReal X); | 414 | public static extern void BodyCopyPosition(IntPtr body, out dReal X); |
415 | 415 | ||
416 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] | 416 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] |
417 | public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); | 417 | public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); |
418 | 418 | ||
419 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] | 419 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] |
420 | public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); | 420 | public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); |
421 | 421 | ||
422 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] | 422 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] |
423 | public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); | 423 | public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); |
424 | 424 | ||
425 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] | 425 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] |
426 | public static extern void BodyCopyRotation(IntPtr body, out dReal M00); | 426 | public static extern void BodyCopyRotation(IntPtr body, out dReal M00); |
427 | 427 | ||
428 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] | 428 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] |
429 | public static extern IntPtr BodyiCreate(IntPtr world); | 429 | public static extern IntPtr BodyiCreate(IntPtr world); |
430 | public static IntPtr BodyCreate(IntPtr world) | 430 | public static IntPtr BodyCreate(IntPtr world) |
431 | { | 431 | { |
432 | NTotalBodies++; | 432 | NTotalBodies++; |
433 | return BodyiCreate(world); | 433 | return BodyiCreate(world); |
434 | } | 434 | } |
435 | 435 | ||
436 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] | 436 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] |
437 | public static extern void BodyiDestroy(IntPtr body); | 437 | public static extern void BodyiDestroy(IntPtr body); |
438 | public static void BodyDestroy(IntPtr body) | 438 | public static void BodyDestroy(IntPtr body) |
439 | { | 439 | { |
@@ -441,114 +441,114 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
441 | BodyiDestroy(body); | 441 | BodyiDestroy(body); |
442 | } | 442 | } |
443 | 443 | ||
444 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] | 444 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] |
445 | public static extern void BodyDisable(IntPtr body); | 445 | public static extern void BodyDisable(IntPtr body); |
446 | 446 | ||
447 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] | 447 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] |
448 | public static extern void BodyEnable(IntPtr body); | 448 | public static extern void BodyEnable(IntPtr body); |
449 | 449 | ||
450 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | 450 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] |
451 | public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); | 451 | public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); |
452 | 452 | ||
453 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | 453 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] |
454 | public static extern bool BodyGetAutoDisableFlag(IntPtr body); | 454 | public static extern bool BodyGetAutoDisableFlag(IntPtr body); |
455 | 455 | ||
456 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] | 456 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] |
457 | public static extern void BodyGetAutoDisableDefaults(IntPtr body); | 457 | public static extern void BodyGetAutoDisableDefaults(IntPtr body); |
458 | 458 | ||
459 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | 459 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] |
460 | public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); | 460 | public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); |
461 | 461 | ||
462 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | 462 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] |
463 | public static extern int BodyGetAutoDisableSteps(IntPtr body); | 463 | public static extern int BodyGetAutoDisableSteps(IntPtr body); |
464 | 464 | ||
465 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | 465 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] |
466 | public static extern dReal BodyGetAutoDisableTime(IntPtr body); | 466 | public static extern dReal BodyGetAutoDisableTime(IntPtr body); |
467 | 467 | ||
468 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] | 468 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] |
469 | public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); | 469 | public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); |
470 | public static Vector3 BodyGetAngularVel(IntPtr body) | 470 | public static Vector3 BodyGetAngularVel(IntPtr body) |
471 | { | 471 | { |
472 | unsafe { return *(BodyGetAngularVelUnsafe(body)); } | 472 | unsafe { return *(BodyGetAngularVelUnsafe(body)); } |
473 | } | 473 | } |
474 | 474 | ||
475 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] | 475 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] |
476 | public static extern IntPtr BodyGetData(IntPtr body); | 476 | public static extern IntPtr BodyGetData(IntPtr body); |
477 | 477 | ||
478 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] | 478 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] |
479 | public static extern int BodyGetFiniteRotationMode(IntPtr body); | 479 | public static extern int BodyGetFiniteRotationMode(IntPtr body); |
480 | 480 | ||
481 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] | 481 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] |
482 | public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); | 482 | public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); |
483 | 483 | ||
484 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] | 484 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] |
485 | public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); | 485 | public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); |
486 | public static Vector3 BodyGetForce(IntPtr body) | 486 | public static Vector3 BodyGetForce(IntPtr body) |
487 | { | 487 | { |
488 | unsafe { return *(BodyGetForceUnsafe(body)); } | 488 | unsafe { return *(BodyGetForceUnsafe(body)); } |
489 | } | 489 | } |
490 | 490 | ||
491 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] | 491 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] |
492 | public static extern bool BodyGetGravityMode(IntPtr body); | 492 | public static extern bool BodyGetGravityMode(IntPtr body); |
493 | 493 | ||
494 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] | 494 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] |
495 | public static extern int BodyGetGyroscopicMode(IntPtr body); | 495 | public static extern int BodyGetGyroscopicMode(IntPtr body); |
496 | 496 | ||
497 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] | 497 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] |
498 | public static extern IntPtr BodyGetJoint(IntPtr body, int index); | 498 | public static extern IntPtr BodyGetJoint(IntPtr body, int index); |
499 | 499 | ||
500 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] | 500 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] |
501 | public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); | 501 | public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); |
502 | public static Vector3 BodyGetLinearVel(IntPtr body) | 502 | public static Vector3 BodyGetLinearVel(IntPtr body) |
503 | { | 503 | { |
504 | unsafe { return *(BodyGetLinearVelUnsafe(body)); } | 504 | unsafe { return *(BodyGetLinearVelUnsafe(body)); } |
505 | } | 505 | } |
506 | 506 | ||
507 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] | 507 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] |
508 | public static extern void BodyGetMass(IntPtr body, out Mass mass); | 508 | public static extern void BodyGetMass(IntPtr body, out Mass mass); |
509 | 509 | ||
510 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] | 510 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] |
511 | public static extern int BodyGetNumJoints(IntPtr body); | 511 | public static extern int BodyGetNumJoints(IntPtr body); |
512 | 512 | ||
513 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] | 513 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] |
514 | public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | 514 | public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); |
515 | 515 | ||
516 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] | 516 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] |
517 | public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); | 517 | public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); |
518 | public static Vector3 BodyGetPosition(IntPtr body) | 518 | public static Vector3 BodyGetPosition(IntPtr body) |
519 | { | 519 | { |
520 | unsafe { return *(BodyGetPositionUnsafe(body)); } | 520 | unsafe { return *(BodyGetPositionUnsafe(body)); } |
521 | } | 521 | } |
522 | 522 | ||
523 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] | 523 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] |
524 | public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | 524 | public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); |
525 | 525 | ||
526 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] | 526 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] |
527 | public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); | 527 | public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); |
528 | public static Quaternion BodyGetQuaternion(IntPtr body) | 528 | public static Quaternion BodyGetQuaternion(IntPtr body) |
529 | { | 529 | { |
530 | unsafe { return *(BodyGetQuaternionUnsafe(body)); } | 530 | unsafe { return *(BodyGetQuaternionUnsafe(body)); } |
531 | } | 531 | } |
532 | 532 | ||
533 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] | 533 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] |
534 | public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | 534 | public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); |
535 | 535 | ||
536 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] | 536 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] |
537 | public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | 537 | public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); |
538 | 538 | ||
539 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] | 539 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] |
540 | public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); | 540 | public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); |
541 | public static Matrix3 BodyGetRotation(IntPtr body) | 541 | public static Matrix3 BodyGetRotation(IntPtr body) |
542 | { | 542 | { |
543 | unsafe { return *(BodyGetRotationUnsafe(body)); } | 543 | unsafe { return *(BodyGetRotationUnsafe(body)); } |
544 | } | 544 | } |
545 | 545 | ||
546 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] | 546 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] |
547 | public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); | 547 | public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); |
548 | public static Vector3 BodyGetTorque(IntPtr body) | 548 | public static Vector3 BodyGetTorque(IntPtr body) |
549 | { | 549 | { |
550 | unsafe { return *(BodyGetTorqueUnsafe(body)); } | 550 | unsafe { return *(BodyGetTorqueUnsafe(body)); } |
551 | } | 551 | } |
552 | 552 | ||
553 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] | 553 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] |
554 | public static extern IntPtr BodyGetWorld(IntPtr body); | 554 | public static extern IntPtr BodyGetWorld(IntPtr body); |
@@ -560,38 +560,38 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
560 | public static extern IntPtr dBodyGetNextGeom(IntPtr Geom); | 560 | public static extern IntPtr dBodyGetNextGeom(IntPtr Geom); |
561 | 561 | ||
562 | 562 | ||
563 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] | 563 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] |
564 | public static extern bool BodyIsEnabled(IntPtr body); | 564 | public static extern bool BodyIsEnabled(IntPtr body); |
565 | 565 | ||
566 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] | 566 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] |
567 | public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); | 567 | public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); |
568 | 568 | ||
569 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | 569 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] |
570 | public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); | 570 | public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); |
571 | 571 | ||
572 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] | 572 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] |
573 | public static extern void BodySetAutoDisableDefaults(IntPtr body); | 573 | public static extern void BodySetAutoDisableDefaults(IntPtr body); |
574 | 574 | ||
575 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | 575 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] |
576 | public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); | 576 | public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); |
577 | 577 | ||
578 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | 578 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] |
579 | public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); | 579 | public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); |
580 | 580 | ||
581 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | 581 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] |
582 | public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); | 582 | public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); |
583 | 583 | ||
584 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | 584 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] |
585 | public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); | 585 | public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); |
586 | 586 | ||
587 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] | 587 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] |
588 | public static extern void BodySetData(IntPtr body, IntPtr data); | 588 | public static extern void BodySetData(IntPtr body, IntPtr data); |
589 | 589 | ||
590 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] | 590 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] |
591 | public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); | 591 | public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); |
592 | 592 | ||
593 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] | 593 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] |
594 | public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); | 594 | public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); |
595 | 595 | ||
596 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] | 596 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] |
597 | public static extern void BodySetLinearDamping(IntPtr body, dReal scale); | 597 | public static extern void BodySetLinearDamping(IntPtr body, dReal scale); |
@@ -620,11 +620,11 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
620 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | 620 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] |
621 | public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); | 621 | public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); |
622 | 622 | ||
623 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] | 623 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] |
624 | public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); | 624 | public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); |
625 | 625 | ||
626 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] | 626 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] |
627 | public static extern void BodySetGravityMode(IntPtr body, bool mode); | 627 | public static extern void BodySetGravityMode(IntPtr body, bool mode); |
628 | 628 | ||
629 | /// <summary> | 629 | /// <summary> |
630 | /// Sets the Gyroscopic term status on the body specified. | 630 | /// Sets the Gyroscopic term status on the body specified. |
@@ -634,76 +634,76 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
634 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] | 634 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] |
635 | public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); | 635 | public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); |
636 | 636 | ||
637 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] | 637 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] |
638 | public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); | 638 | public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); |
639 | 639 | ||
640 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] | 640 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] |
641 | public static extern void BodySetMass(IntPtr body, ref Mass mass); | 641 | public static extern void BodySetMass(IntPtr body, ref Mass mass); |
642 | 642 | ||
643 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] | 643 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] |
644 | public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); | 644 | public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); |
645 | 645 | ||
646 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] | 646 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] |
647 | public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); | 647 | public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); |
648 | 648 | ||
649 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] | 649 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] |
650 | public static extern void BodySetQuaternion(IntPtr body, ref dReal w); | 650 | public static extern void BodySetQuaternion(IntPtr body, ref dReal w); |
651 | 651 | ||
652 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] | 652 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] |
653 | public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); | 653 | public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); |
654 | 654 | ||
655 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] | 655 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] |
656 | public static extern void BodySetRotation(IntPtr body, ref dReal M00); | 656 | public static extern void BodySetRotation(IntPtr body, ref dReal M00); |
657 | 657 | ||
658 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] | 658 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] |
659 | public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); | 659 | public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); |
660 | 660 | ||
661 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] | 661 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] |
662 | public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | 662 | public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); |
663 | 663 | ||
664 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] | 664 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] |
665 | public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | 665 | public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); |
666 | 666 | ||
667 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] | 667 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] |
668 | public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, | 668 | public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, |
669 | ref Vector3 side1, ref Vector3 p2, | 669 | ref Vector3 side1, ref Vector3 p2, |
670 | ref Matrix3 R2, ref Vector3 side2, | 670 | ref Matrix3 R2, ref Vector3 side2, |
671 | ref Vector3 normal, out dReal depth, out int return_code, | 671 | ref Vector3 normal, out dReal depth, out int return_code, |
672 | int maxc, out ContactGeom contact, int skip); | 672 | int maxc, out ContactGeom contact, int skip); |
673 | 673 | ||
674 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] | 674 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] |
675 | public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, | 675 | public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, |
676 | ref Vector3 side1, ref Vector3 _p2, | 676 | ref Vector3 side1, ref Vector3 _p2, |
677 | ref Matrix3 R2, ref Vector3 side2); | 677 | ref Matrix3 R2, ref Vector3 side2); |
678 | 678 | ||
679 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] | 679 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] |
680 | public static extern void CleanupODEAllDataForThread(); | 680 | public static extern void CleanupODEAllDataForThread(); |
681 | 681 | ||
682 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] | 682 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] |
683 | public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, | 683 | public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, |
684 | ref Vector3 b1, ref Vector3 b2, | 684 | ref Vector3 b1, ref Vector3 b2, |
685 | ref Vector3 cp1, ref Vector3 cp2); | 685 | ref Vector3 cp1, ref Vector3 cp2); |
686 | 686 | ||
687 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] | 687 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] |
688 | public static extern void CloseODE(); | 688 | public static extern void CloseODE(); |
689 | 689 | ||
690 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] | 690 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] |
691 | public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); | 691 | public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); |
692 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] | 692 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] |
693 | public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip); | 693 | public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip); |
694 | 694 | ||
695 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] | 695 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] |
696 | public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); | 696 | public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); |
697 | 697 | ||
698 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] | 698 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] |
699 | public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz); | 699 | public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz); |
700 | public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz) | 700 | public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz) |
701 | { | 701 | { |
702 | NTotalGeoms++; | 702 | NTotalGeoms++; |
703 | return CreateiBox(space, lx, ly, lz); | 703 | return CreateiBox(space, lx, ly, lz); |
704 | } | 704 | } |
705 | 705 | ||
706 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] | 706 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] |
707 | public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length); | 707 | public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length); |
708 | public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length) | 708 | public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length) |
709 | { | 709 | { |
@@ -711,23 +711,23 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
711 | return CreateiCapsule(space, radius, length); | 711 | return CreateiCapsule(space, radius, length); |
712 | } | 712 | } |
713 | 713 | ||
714 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] | 714 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] |
715 | public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); | 715 | public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); |
716 | public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons) | 716 | public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons) |
717 | { | 717 | { |
718 | NTotalGeoms++; | 718 | NTotalGeoms++; |
719 | return CreateiConvex(space, planes, planeCount, points, pointCount, polygons); | 719 | return CreateiConvex(space, planes, planeCount, points, pointCount, polygons); |
720 | } | 720 | } |
721 | 721 | ||
722 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] | 722 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] |
723 | public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length); | 723 | public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length); |
724 | public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length) | 724 | public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length) |
725 | { | 725 | { |
726 | NTotalGeoms++; | 726 | NTotalGeoms++; |
727 | return CreateiCylinder(space, radius, length); | 727 | return CreateiCylinder(space, radius, length); |
728 | } | 728 | } |
729 | 729 | ||
730 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] | 730 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] |
731 | public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable); | 731 | public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable); |
732 | public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable) | 732 | public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable) |
733 | { | 733 | { |
@@ -745,23 +745,23 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
745 | 745 | ||
746 | 746 | ||
747 | 747 | ||
748 | |||
749 | 748 | ||
750 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] | 749 | |
751 | public static extern IntPtr CreateiGeom(int classnum); | 750 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] |
751 | public static extern IntPtr CreateiGeom(int classnum); | ||
752 | public static IntPtr CreateGeom(int classnum) | 752 | public static IntPtr CreateGeom(int classnum) |
753 | { | 753 | { |
754 | NTotalGeoms++; | 754 | NTotalGeoms++; |
755 | return CreateiGeom(classnum); | 755 | return CreateiGeom(classnum); |
756 | } | 756 | } |
757 | 757 | ||
758 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] | 758 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] |
759 | public static extern int CreateGeomClass(ref GeomClass classptr); | 759 | public static extern int CreateGeomClass(ref GeomClass classptr); |
760 | 760 | ||
761 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] | 761 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] |
762 | public static extern IntPtr CreateGeomTransform(IntPtr space); | 762 | public static extern IntPtr CreateGeomTransform(IntPtr space); |
763 | 763 | ||
764 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] | 764 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] |
765 | public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); | 765 | public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); |
766 | public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d) | 766 | public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d) |
767 | { | 767 | { |
@@ -769,25 +769,25 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
769 | return CreateiPlane(space, a, b, c, d); | 769 | return CreateiPlane(space, a, b, c, d); |
770 | } | 770 | } |
771 | 771 | ||
772 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] | 772 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] |
773 | public static extern IntPtr CreateiRay(IntPtr space, dReal length); | 773 | public static extern IntPtr CreateiRay(IntPtr space, dReal length); |
774 | public static IntPtr CreateRay(IntPtr space, dReal length) | 774 | public static IntPtr CreateRay(IntPtr space, dReal length) |
775 | { | 775 | { |
776 | NTotalGeoms++; | 776 | NTotalGeoms++; |
777 | return CreateiRay(space, length); | 777 | return CreateiRay(space, length); |
778 | } | 778 | } |
779 | 779 | ||
780 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] | 780 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] |
781 | public static extern IntPtr CreateiSphere(IntPtr space, dReal radius); | 781 | public static extern IntPtr CreateiSphere(IntPtr space, dReal radius); |
782 | public static IntPtr CreateSphere(IntPtr space, dReal radius) | 782 | public static IntPtr CreateSphere(IntPtr space, dReal radius) |
783 | { | 783 | { |
784 | NTotalGeoms++; | 784 | NTotalGeoms++; |
785 | return CreateiSphere(space, radius); | 785 | return CreateiSphere(space, radius); |
786 | } | 786 | } |
787 | 787 | ||
788 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] | 788 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] |
789 | public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, | 789 | public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, |
790 | TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); | 790 | TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); |
791 | public static IntPtr CreateTriMesh(IntPtr space, IntPtr data, | 791 | public static IntPtr CreateTriMesh(IntPtr space, IntPtr data, |
792 | TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback) | 792 | TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback) |
793 | { | 793 | { |
@@ -795,79 +795,79 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
795 | return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback); | 795 | return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback); |
796 | } | 796 | } |
797 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] | 797 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] |
798 | public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); | 798 | public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); |
799 | 799 | ||
800 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] | 800 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] |
801 | public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); | 801 | public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); |
802 | 802 | ||
803 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] | 803 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] |
804 | public static extern int FactorCholesky(ref dReal A00, int n); | 804 | public static extern int FactorCholesky(ref dReal A00, int n); |
805 | 805 | ||
806 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] | 806 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] |
807 | public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); | 807 | public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); |
808 | 808 | ||
809 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] | 809 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] |
810 | public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); | 810 | public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); |
811 | 811 | ||
812 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] | 812 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] |
813 | public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); | 813 | public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); |
814 | 814 | ||
815 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] | 815 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] |
816 | public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); | 816 | public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); |
817 | 817 | ||
818 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] | 818 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] |
819 | public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); | 819 | public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); |
820 | 820 | ||
821 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] | 821 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] |
822 | public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); | 822 | public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); |
823 | 823 | ||
824 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] | 824 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] |
825 | public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); | 825 | public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); |
826 | 826 | ||
827 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] | 827 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] |
828 | public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); | 828 | public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); |
829 | 829 | ||
830 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] | 830 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] |
831 | public static extern void GeomClearOffset(IntPtr geom); | 831 | public static extern void GeomClearOffset(IntPtr geom); |
832 | 832 | ||
833 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] | 833 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] |
834 | public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); | 834 | public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); |
835 | 835 | ||
836 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] | 836 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] |
837 | public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); | 837 | public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); |
838 | 838 | ||
839 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | 839 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] |
840 | public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); | 840 | public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); |
841 | 841 | ||
842 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | 842 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] |
843 | public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); | 843 | public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); |
844 | 844 | ||
845 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] | 845 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] |
846 | public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); | 846 | public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); |
847 | 847 | ||
848 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] | 848 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] |
849 | public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); | 849 | public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); |
850 | 850 | ||
851 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] | 851 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] |
852 | public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); | 852 | public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); |
853 | 853 | ||
854 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] | 854 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] |
855 | public static extern void GeomCopyPosition(IntPtr geom, out dReal X); | 855 | public static extern void GeomCopyPosition(IntPtr geom, out dReal X); |
856 | 856 | ||
857 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] | 857 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] |
858 | public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); | 858 | public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); |
859 | 859 | ||
860 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] | 860 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] |
861 | public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); | 861 | public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); |
862 | 862 | ||
863 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] | 863 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] |
864 | public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); | 864 | public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); |
865 | 865 | ||
866 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] | 866 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] |
867 | public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); | 867 | public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); |
868 | 868 | ||
869 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] | 869 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] |
870 | public static extern void GeomiDestroy(IntPtr geom); | 870 | public static extern void GeomiDestroy(IntPtr geom); |
871 | public static void GeomDestroy(IntPtr geom) | 871 | public static void GeomDestroy(IntPtr geom) |
872 | { | 872 | { |
873 | NTotalGeoms--; | 873 | NTotalGeoms--; |
@@ -875,63 +875,63 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
875 | } | 875 | } |
876 | 876 | ||
877 | 877 | ||
878 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] | 878 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] |
879 | public static extern void GeomDisable(IntPtr geom); | 879 | public static extern void GeomDisable(IntPtr geom); |
880 | 880 | ||
881 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] | 881 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] |
882 | public static extern void GeomEnable(IntPtr geom); | 882 | public static extern void GeomEnable(IntPtr geom); |
883 | 883 | ||
884 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] | 884 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] |
885 | public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); | 885 | public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); |
886 | 886 | ||
887 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] | 887 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] |
888 | public static extern void GeomGetAABB(IntPtr geom, out dReal minX); | 888 | public static extern void GeomGetAABB(IntPtr geom, out dReal minX); |
889 | 889 | ||
890 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] | 890 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] |
891 | public static extern IntPtr GeomGetBody(IntPtr geom); | 891 | public static extern IntPtr GeomGetBody(IntPtr geom); |
892 | 892 | ||
893 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] | 893 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] |
894 | public static extern uint GeomGetCategoryBits(IntPtr geom); | 894 | public static extern uint GeomGetCategoryBits(IntPtr geom); |
895 | 895 | ||
896 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] | 896 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] |
897 | public static extern IntPtr GeomGetClassData(IntPtr geom); | 897 | public static extern IntPtr GeomGetClassData(IntPtr geom); |
898 | 898 | ||
899 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] | 899 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] |
900 | public static extern uint GeomGetCollideBits(IntPtr geom); | 900 | public static extern uint GeomGetCollideBits(IntPtr geom); |
901 | 901 | ||
902 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] | 902 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] |
903 | public static extern GeomClassID GeomGetClass(IntPtr geom); | 903 | public static extern GeomClassID GeomGetClass(IntPtr geom); |
904 | 904 | ||
905 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] | 905 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] |
906 | public static extern IntPtr GeomGetData(IntPtr geom); | 906 | public static extern IntPtr GeomGetData(IntPtr geom); |
907 | 907 | ||
908 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] | 908 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] |
909 | public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); | 909 | public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); |
910 | public static Vector3 GeomGetOffsetPosition(IntPtr geom) | 910 | public static Vector3 GeomGetOffsetPosition(IntPtr geom) |
911 | { | 911 | { |
912 | unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } | 912 | unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } |
913 | } | 913 | } |
914 | 914 | ||
915 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] | 915 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] |
916 | public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); | 916 | public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); |
917 | public static Matrix3 GeomGetOffsetRotation(IntPtr geom) | 917 | public static Matrix3 GeomGetOffsetRotation(IntPtr geom) |
918 | { | 918 | { |
919 | unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } | 919 | unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } |
920 | } | 920 | } |
921 | 921 | ||
922 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] | 922 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] |
923 | public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); | 923 | public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); |
924 | public static Vector3 GeomGetPosition(IntPtr geom) | 924 | public static Vector3 GeomGetPosition(IntPtr geom) |
925 | { | 925 | { |
926 | unsafe { return *(GeomGetPositionUnsafe(geom)); } | 926 | unsafe { return *(GeomGetPositionUnsafe(geom)); } |
927 | } | 927 | } |
928 | public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom) | 928 | public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom) |
929 | { | 929 | { |
930 | Vector3 vtmp = GeomGetPosition(geom); | 930 | Vector3 vtmp = GeomGetPosition(geom); |
931 | return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z); | 931 | return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z); |
932 | } | 932 | } |
933 | 933 | ||
934 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] | 934 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] |
935 | public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); | 935 | public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); |
936 | public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom) | 936 | public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom) |
937 | { | 937 | { |
@@ -940,85 +940,85 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
940 | return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W); | 940 | return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W); |
941 | } | 941 | } |
942 | 942 | ||
943 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] | 943 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] |
944 | public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); | 944 | public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); |
945 | 945 | ||
946 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] | 946 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] |
947 | public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); | 947 | public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); |
948 | public static Matrix3 GeomGetRotation(IntPtr geom) | 948 | public static Matrix3 GeomGetRotation(IntPtr geom) |
949 | { | 949 | { |
950 | unsafe { return *(GeomGetRotationUnsafe(geom)); } | 950 | unsafe { return *(GeomGetRotationUnsafe(geom)); } |
951 | } | 951 | } |
952 | 952 | ||
953 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] | 953 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] |
954 | public static extern IntPtr GeomGetSpace(IntPtr geom); | 954 | public static extern IntPtr GeomGetSpace(IntPtr geom); |
955 | 955 | ||
956 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] | 956 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] |
957 | public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, | 957 | public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, |
958 | dReal width, dReal depth, int widthSamples, int depthSamples, | 958 | dReal width, dReal depth, int widthSamples, int depthSamples, |
959 | dReal scale, dReal offset, dReal thickness, int bWrap); | 959 | dReal scale, dReal offset, dReal thickness, int bWrap); |
960 | 960 | ||
961 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] | 961 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] |
962 | public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | 962 | public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, |
963 | dReal width, dReal depth, int widthSamples, int depthSamples, | 963 | dReal width, dReal depth, int widthSamples, int depthSamples, |
964 | dReal scale, dReal offset, dReal thickness, int bWrap); | 964 | dReal scale, dReal offset, dReal thickness, int bWrap); |
965 | 965 | ||
966 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] | 966 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] |
967 | public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, | 967 | public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, |
968 | dReal width, dReal depth, int widthSamples, int depthSamples, | 968 | dReal width, dReal depth, int widthSamples, int depthSamples, |
969 | dReal scale, dReal offset, dReal thickness, int bWrap); | 969 | dReal scale, dReal offset, dReal thickness, int bWrap); |
970 | 970 | ||
971 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] | 971 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] |
972 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, | 972 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, |
973 | dReal width, dReal depth, int widthSamples, int depthSamples, | 973 | dReal width, dReal depth, int widthSamples, int depthSamples, |
974 | dReal scale, dReal offset, dReal thickness, int bWrap); | 974 | dReal scale, dReal offset, dReal thickness, int bWrap); |
975 | 975 | ||
976 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] | 976 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] |
977 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, | 977 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, |
978 | dReal width, dReal depth, int widthSamples, int depthSamples, | 978 | dReal width, dReal depth, int widthSamples, int depthSamples, |
979 | dReal scale, dReal offset, dReal thickness, int bWrap); | 979 | dReal scale, dReal offset, dReal thickness, int bWrap); |
980 | 980 | ||
981 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] | 981 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] |
982 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | 982 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, |
983 | dReal width, dReal depth, int widthSamples, int depthSamples, | 983 | dReal width, dReal depth, int widthSamples, int depthSamples, |
984 | dReal scale, dReal offset, dReal thickness, int bWrap); | 984 | dReal scale, dReal offset, dReal thickness, int bWrap); |
985 | 985 | ||
986 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] | 986 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] |
987 | public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, | 987 | public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, |
988 | dReal width, dReal depth, int widthSamples, int depthSamples, | 988 | dReal width, dReal depth, int widthSamples, int depthSamples, |
989 | dReal scale, dReal offset, dReal thickness, int bWrap); | 989 | dReal scale, dReal offset, dReal thickness, int bWrap); |
990 | 990 | ||
991 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] | 991 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] |
992 | public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | 992 | public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, |
993 | dReal width, dReal depth, int widthSamples, int depthSamples, | 993 | dReal width, dReal depth, int widthSamples, int depthSamples, |
994 | dReal scale, dReal offset, dReal thickness, int bWrap); | 994 | dReal scale, dReal offset, dReal thickness, int bWrap); |
995 | 995 | ||
996 | 996 | ||
997 | 997 | ||
998 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] | 998 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] |
999 | public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, | 999 | public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, |
1000 | dReal width, dReal depth, int widthSamples, int depthSamples, | 1000 | dReal width, dReal depth, int widthSamples, int depthSamples, |
1001 | dReal scale, dReal offset, dReal thickness, int bWrap); | 1001 | dReal scale, dReal offset, dReal thickness, int bWrap); |
1002 | 1002 | ||
1003 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] | 1003 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] |
1004 | public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | 1004 | public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, |
1005 | dReal width, dReal depth, int widthSamples, int depthSamples, | 1005 | dReal width, dReal depth, int widthSamples, int depthSamples, |
1006 | dReal scale, dReal offset, dReal thickness, int bWrap); | 1006 | dReal scale, dReal offset, dReal thickness, int bWrap); |
1007 | 1007 | ||
1008 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] | 1008 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] |
1009 | public static extern IntPtr GeomHeightfieldDataCreate(); | 1009 | public static extern IntPtr GeomHeightfieldDataCreate(); |
1010 | 1010 | ||
1011 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] | 1011 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] |
1012 | public static extern void GeomHeightfieldDataDestroy(IntPtr d); | 1012 | public static extern void GeomHeightfieldDataDestroy(IntPtr d); |
1013 | 1013 | ||
1014 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] | 1014 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] |
1015 | public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); | 1015 | public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); |
1016 | 1016 | ||
1017 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] | 1017 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] |
1018 | public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); | 1018 | public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); |
1019 | 1019 | ||
1020 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] | 1020 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] |
1021 | public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); | 1021 | public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); |
1022 | 1022 | ||
1023 | 1023 | ||
1024 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity] | 1024 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity] |
@@ -1047,279 +1047,279 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1047 | public static extern void GeomOSTerrainSetHeightfieldData(IntPtr g, IntPtr d); | 1047 | public static extern void GeomOSTerrainSetHeightfieldData(IntPtr g, IntPtr d); |
1048 | 1048 | ||
1049 | 1049 | ||
1050 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] | 1050 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] |
1051 | public static extern bool GeomIsEnabled(IntPtr geom); | 1051 | public static extern bool GeomIsEnabled(IntPtr geom); |
1052 | 1052 | ||
1053 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] | 1053 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] |
1054 | public static extern bool GeomIsOffset(IntPtr geom); | 1054 | public static extern bool GeomIsOffset(IntPtr geom); |
1055 | 1055 | ||
1056 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] | 1056 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] |
1057 | public static extern bool GeomIsSpace(IntPtr geom); | 1057 | public static extern bool GeomIsSpace(IntPtr geom); |
1058 | 1058 | ||
1059 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] | 1059 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] |
1060 | public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); | 1060 | public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); |
1061 | 1061 | ||
1062 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] | 1062 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] |
1063 | public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); | 1063 | public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); |
1064 | 1064 | ||
1065 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] | 1065 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] |
1066 | public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); | 1066 | public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); |
1067 | 1067 | ||
1068 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] | 1068 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] |
1069 | public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); | 1069 | public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); |
1070 | 1070 | ||
1071 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] | 1071 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] |
1072 | public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); | 1072 | public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); |
1073 | 1073 | ||
1074 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] | 1074 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] |
1075 | public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); | 1075 | public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); |
1076 | 1076 | ||
1077 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] | 1077 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] |
1078 | public static extern int GeomRayGetClosestHit(IntPtr ray); | 1078 | public static extern int GeomRayGetClosestHit(IntPtr ray); |
1079 | 1079 | ||
1080 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] | 1080 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] |
1081 | public static extern dReal GeomRayGetLength(IntPtr ray); | 1081 | public static extern dReal GeomRayGetLength(IntPtr ray); |
1082 | 1082 | ||
1083 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] | 1083 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] |
1084 | public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); | 1084 | public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); |
1085 | 1085 | ||
1086 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] | 1086 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] |
1087 | public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); | 1087 | public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); |
1088 | 1088 | ||
1089 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] | 1089 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] |
1090 | public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); | 1090 | public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); |
1091 | 1091 | ||
1092 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] | 1092 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] |
1093 | public static extern void GeomRaySetLength(IntPtr ray, dReal length); | 1093 | public static extern void GeomRaySetLength(IntPtr ray, dReal length); |
1094 | 1094 | ||
1095 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] | 1095 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] |
1096 | public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); | 1096 | public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); |
1097 | 1097 | ||
1098 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] | 1098 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] |
1099 | public static extern void GeomSetBody(IntPtr geom, IntPtr body); | 1099 | public static extern void GeomSetBody(IntPtr geom, IntPtr body); |
1100 | 1100 | ||
1101 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] | 1101 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] |
1102 | public static extern void GeomSetCategoryBits(IntPtr geom, uint bits); | 1102 | public static extern void GeomSetCategoryBits(IntPtr geom, uint bits); |
1103 | 1103 | ||
1104 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] | 1104 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] |
1105 | public static extern void GeomSetCollideBits(IntPtr geom, uint bits); | 1105 | public static extern void GeomSetCollideBits(IntPtr geom, uint bits); |
1106 | 1106 | ||
1107 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] | 1107 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] |
1108 | public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); | 1108 | public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); |
1109 | 1109 | ||
1110 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] | 1110 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] |
1111 | public static extern void GeomSetData(IntPtr geom, IntPtr data); | 1111 | public static extern void GeomSetData(IntPtr geom, IntPtr data); |
1112 | 1112 | ||
1113 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] | 1113 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] |
1114 | public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); | 1114 | public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); |
1115 | |||
1116 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1117 | public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q); | ||
1118 | |||
1119 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1120 | public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X); | ||
1121 | |||
1122 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
1123 | public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R); | ||
1124 | |||
1125 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
1126 | public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00); | ||
1127 | 1115 | ||
1128 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] | 1116 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] |
1129 | public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); | 1117 | public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q); |
1130 | 1118 | ||
1131 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] | 1119 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] |
1132 | public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); | 1120 | public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X); |
1133 | 1121 | ||
1134 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] | 1122 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] |
1135 | public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); | 1123 | public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R); |
1136 | 1124 | ||
1137 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] | 1125 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] |
1138 | public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); | 1126 | public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00); |
1139 | 1127 | ||
1140 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] | 1128 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] |
1141 | public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); | 1129 | public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); |
1142 | 1130 | ||
1143 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] | 1131 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] |
1144 | public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); | 1132 | public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); |
1145 | 1133 | ||
1146 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] | 1134 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] |
1147 | public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); | 1135 | public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); |
1148 | 1136 | ||
1149 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] | 1137 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] |
1150 | public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); | 1138 | public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); |
1151 | 1139 | ||
1152 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] | 1140 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] |
1153 | public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); | 1141 | public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); |
1154 | 1142 | ||
1155 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] | 1143 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] |
1156 | public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); | 1144 | public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); |
1157 | 1145 | ||
1158 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] | 1146 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] |
1159 | public static extern dReal GeomSphereGetRadius(IntPtr geom); | 1147 | public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); |
1160 | 1148 | ||
1161 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] | 1149 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] |
1162 | public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); | 1150 | public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); |
1163 | 1151 | ||
1164 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] | 1152 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] |
1165 | public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); | 1153 | public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); |
1166 | 1154 | ||
1167 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] | 1155 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] |
1168 | public static extern int GeomTransformGetCleanup(IntPtr geom); | 1156 | public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); |
1169 | 1157 | ||
1170 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] | 1158 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] |
1171 | public static extern IntPtr GeomTransformGetGeom(IntPtr geom); | 1159 | public static extern dReal GeomSphereGetRadius(IntPtr geom); |
1172 | 1160 | ||
1173 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] | 1161 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] |
1174 | public static extern int GeomTransformGetInfo(IntPtr geom); | 1162 | public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); |
1175 | 1163 | ||
1176 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] | 1164 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] |
1177 | public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); | 1165 | public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); |
1178 | 1166 | ||
1179 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] | 1167 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] |
1180 | public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); | 1168 | public static extern int GeomTransformGetCleanup(IntPtr geom); |
1181 | 1169 | ||
1182 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] | 1170 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] |
1183 | public static extern void GeomTransformSetInfo(IntPtr geom, int info); | 1171 | public static extern IntPtr GeomTransformGetGeom(IntPtr geom); |
1184 | 1172 | ||
1185 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] | 1173 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] |
1186 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, | 1174 | public static extern int GeomTransformGetInfo(IntPtr geom); |
1187 | double[] vertices, int vertexStride, int vertexCount, | ||
1188 | int[] indices, int indexCount, int triStride); | ||
1189 | 1175 | ||
1190 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] | 1176 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] |
1191 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, | 1177 | public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); |
1192 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1193 | IntPtr indices, int indexCount, int triStride); | ||
1194 | 1178 | ||
1195 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] | 1179 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] |
1196 | public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, | 1180 | public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); |
1197 | double[] vertices, int vertexStride, int vertexCount, | ||
1198 | int[] indices, int indexCount, int triStride, | ||
1199 | double[] normals); | ||
1200 | 1181 | ||
1201 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] | 1182 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] |
1202 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, | 1183 | public static extern void GeomTransformSetInfo(IntPtr geom, int info); |
1203 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1204 | IntPtr indices, int indexCount, int triStride, | ||
1205 | IntPtr normals); | ||
1206 | 1184 | ||
1207 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] | 1185 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] |
1208 | public static extern void GeomTriMeshDataBuildSingle(IntPtr d, | 1186 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, |
1209 | dReal[] vertices, int vertexStride, int vertexCount, | 1187 | double[] vertices, int vertexStride, int vertexCount, |
1210 | int[] indices, int indexCount, int triStride); | 1188 | int[] indices, int indexCount, int triStride); |
1211 | 1189 | ||
1212 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] | 1190 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] |
1213 | public static extern void GeomTriMeshDataBuildSingle(IntPtr d, | 1191 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, |
1214 | IntPtr vertices, int vertexStride, int vertexCount, | 1192 | IntPtr vertices, int vertexStride, int vertexCount, |
1215 | IntPtr indices, int indexCount, int triStride); | 1193 | IntPtr indices, int indexCount, int triStride); |
1216 | 1194 | ||
1217 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] | 1195 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] |
1218 | public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, | 1196 | public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, |
1219 | dReal[] vertices, int vertexStride, int vertexCount, | 1197 | double[] vertices, int vertexStride, int vertexCount, |
1220 | int[] indices, int indexCount, int triStride, | 1198 | int[] indices, int indexCount, int triStride, |
1221 | dReal[] normals); | 1199 | double[] normals); |
1222 | 1200 | ||
1223 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] | 1201 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] |
1224 | public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, | 1202 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, |
1225 | IntPtr vertices, int vertexStride, int vertexCount, | 1203 | IntPtr vertices, int vertexStride, int vertexCount, |
1226 | IntPtr indices, int indexCount, int triStride, | 1204 | IntPtr indices, int indexCount, int triStride, |
1227 | IntPtr normals); | 1205 | IntPtr normals); |
1228 | 1206 | ||
1229 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] | 1207 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] |
1230 | public static extern void GeomTriMeshDataBuildSimple(IntPtr d, | 1208 | public static extern void GeomTriMeshDataBuildSingle(IntPtr d, |
1231 | float[] vertices, int vertexStride, int vertexCount, | 1209 | dReal[] vertices, int vertexStride, int vertexCount, |
1232 | int[] indices, int indexCount, int triStride); | 1210 | int[] indices, int indexCount, int triStride); |
1233 | 1211 | ||
1234 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] | 1212 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] |
1235 | public static extern void GeomTriMeshDataBuildSimple(IntPtr d, | 1213 | public static extern void GeomTriMeshDataBuildSingle(IntPtr d, |
1236 | IntPtr vertices, int vertexStride, int vertexCount, | 1214 | IntPtr vertices, int vertexStride, int vertexCount, |
1237 | IntPtr indices, int indexCount, int triStride); | 1215 | IntPtr indices, int indexCount, int triStride); |
1238 | 1216 | ||
1239 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] | 1217 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] |
1240 | public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, | 1218 | public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, |
1241 | float[] vertices, int vertexStride, int vertexCount, | 1219 | dReal[] vertices, int vertexStride, int vertexCount, |
1242 | int[] indices, int indexCount, int triStride, | 1220 | int[] indices, int indexCount, int triStride, |
1243 | float[] normals); | 1221 | dReal[] normals); |
1244 | 1222 | ||
1245 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] | 1223 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] |
1246 | public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, | 1224 | public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, |
1247 | IntPtr vertices, int vertexStride, int vertexCount, | 1225 | IntPtr vertices, int vertexStride, int vertexCount, |
1248 | IntPtr indices, int indexCount, int triStride, | 1226 | IntPtr indices, int indexCount, int triStride, |
1249 | IntPtr normals); | 1227 | IntPtr normals); |
1250 | 1228 | ||
1251 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] | 1229 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] |
1252 | public static extern void GeomTriMeshClearTCCache(IntPtr g); | 1230 | public static extern void GeomTriMeshDataBuildSimple(IntPtr d, |
1231 | float[] vertices, int vertexStride, int vertexCount, | ||
1232 | int[] indices, int indexCount, int triStride); | ||
1253 | 1233 | ||
1254 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] | 1234 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] |
1255 | public static extern IntPtr GeomTriMeshDataCreate(); | 1235 | public static extern void GeomTriMeshDataBuildSimple(IntPtr d, |
1236 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1237 | IntPtr indices, int indexCount, int triStride); | ||
1256 | 1238 | ||
1257 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] | 1239 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] |
1258 | public static extern void GeomTriMeshDataDestroy(IntPtr d); | 1240 | public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, |
1241 | float[] vertices, int vertexStride, int vertexCount, | ||
1242 | int[] indices, int indexCount, int triStride, | ||
1243 | float[] normals); | ||
1259 | 1244 | ||
1260 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] | 1245 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] |
1261 | public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); | 1246 | public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, |
1247 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1248 | IntPtr indices, int indexCount, int triStride, | ||
1249 | IntPtr normals); | ||
1262 | 1250 | ||
1263 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] | 1251 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] |
1264 | public static extern void GeomTriMeshDataPreprocess(IntPtr d); | 1252 | public static extern void GeomTriMeshClearTCCache(IntPtr g); |
1265 | 1253 | ||
1266 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] | 1254 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] |
1267 | public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); | 1255 | public static extern IntPtr GeomTriMeshDataCreate(); |
1268 | 1256 | ||
1269 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] | 1257 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] |
1270 | public static extern void GeomTriMeshDataUpdate(IntPtr d); | 1258 | public static extern void GeomTriMeshDataDestroy(IntPtr d); |
1271 | 1259 | ||
1272 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] | 1260 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] |
1273 | public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); | 1261 | public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); |
1274 | 1262 | ||
1275 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] | 1263 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] |
1276 | public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); | 1264 | public static extern void GeomTriMeshDataPreprocess(IntPtr d); |
1277 | 1265 | ||
1278 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] | 1266 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] |
1279 | public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); | 1267 | public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); |
1280 | 1268 | ||
1281 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] | 1269 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] |
1282 | public static extern IntPtr GeomTriMeshGetData(IntPtr g); | 1270 | public static extern void GeomTriMeshDataUpdate(IntPtr d); |
1283 | 1271 | ||
1284 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] | 1272 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] |
1285 | public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); | 1273 | public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); |
1286 | public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) | 1274 | |
1287 | { | 1275 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] |
1288 | unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } | 1276 | public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); |
1289 | } | 1277 | |
1278 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] | ||
1279 | public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); | ||
1280 | |||
1281 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] | ||
1282 | public static extern IntPtr GeomTriMeshGetData(IntPtr g); | ||
1283 | |||
1284 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] | ||
1285 | public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); | ||
1286 | public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) | ||
1287 | { | ||
1288 | unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } | ||
1289 | } | ||
1290 | 1290 | ||
1291 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] | 1291 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] |
1292 | public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); | 1292 | public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); |
1293 | 1293 | ||
1294 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] | 1294 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] |
1295 | public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); | 1295 | public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); |
1296 | 1296 | ||
1297 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] | 1297 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] |
1298 | public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); | 1298 | public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); |
1299 | 1299 | ||
1300 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] | 1300 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] |
1301 | public extern static int GeomTriMeshGetTriangleCount(IntPtr g); | 1301 | public extern static int GeomTriMeshGetTriangleCount(IntPtr g); |
1302 | 1302 | ||
1303 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] | 1303 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] |
1304 | public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); | 1304 | public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); |
1305 | 1305 | ||
1306 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] | 1306 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] |
1307 | public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); | 1307 | public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); |
1308 | 1308 | ||
1309 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] | 1309 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] |
1310 | public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); | 1310 | public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); |
1311 | 1311 | ||
1312 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] | 1312 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] |
1313 | public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); | 1313 | public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); |
1314 | 1314 | ||
1315 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] | 1315 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] |
1316 | public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); | 1316 | public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); |
1317 | 1317 | ||
1318 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] | 1318 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] |
1319 | public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); | 1319 | public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); |
1320 | 1320 | ||
1321 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] | 1321 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] |
1322 | public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); | 1322 | public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); |
1323 | 1323 | ||
1324 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] | 1324 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] |
1325 | public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); | 1325 | public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); |
@@ -1334,416 +1334,416 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1334 | return s; | 1334 | return s; |
1335 | } | 1335 | } |
1336 | 1336 | ||
1337 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] | 1337 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] |
1338 | public static extern IntPtr HashSpaceCreate(IntPtr space); | 1338 | public static extern IntPtr HashSpaceCreate(IntPtr space); |
1339 | 1339 | ||
1340 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] | 1340 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] |
1341 | public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); | 1341 | public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); |
1342 | 1342 | ||
1343 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] | 1343 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] |
1344 | public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); | 1344 | public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); |
1345 | 1345 | ||
1346 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] | 1346 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] |
1347 | public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); | 1347 | public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); |
1348 | 1348 | ||
1349 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] | 1349 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] |
1350 | public static extern void InitODE(); | 1350 | public static extern void InitODE(); |
1351 | 1351 | ||
1352 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] | 1352 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] |
1353 | public static extern int InitODE2(uint ODEInitFlags); | 1353 | public static extern int InitODE2(uint ODEInitFlags); |
1354 | 1354 | ||
1355 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] | 1355 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] |
1356 | public static extern int IsPositiveDefinite(ref dReal A, int n); | 1356 | public static extern int IsPositiveDefinite(ref dReal A, int n); |
1357 | 1357 | ||
1358 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] | 1358 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] |
1359 | public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); | 1359 | public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); |
1360 | 1360 | ||
1361 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] | 1361 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] |
1362 | public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); | 1362 | public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); |
1363 | 1363 | ||
1364 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] | 1364 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] |
1365 | public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); | 1365 | public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); |
1366 | 1366 | ||
1367 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] | 1367 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] |
1368 | public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); | 1368 | public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); |
1369 | 1369 | ||
1370 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] | 1370 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] |
1371 | public static extern void JointAddPRTorque(IntPtr joint, dReal torque); | 1371 | public static extern void JointAddPRTorque(IntPtr joint, dReal torque); |
1372 | 1372 | ||
1373 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] | 1373 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] |
1374 | public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); | 1374 | public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); |
1375 | 1375 | ||
1376 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] | 1376 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] |
1377 | public static extern void JointAddSliderForce(IntPtr joint, dReal force); | 1377 | public static extern void JointAddSliderForce(IntPtr joint, dReal force); |
1378 | 1378 | ||
1379 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] | 1379 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] |
1380 | public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); | 1380 | public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); |
1381 | 1381 | ||
1382 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] | 1382 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] |
1383 | public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); | 1383 | public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); |
1384 | 1384 | ||
1385 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] | 1385 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] |
1386 | public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); | 1386 | public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); |
1387 | 1387 | ||
1388 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] | 1388 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] |
1389 | public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); | 1389 | public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); |
1390 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] | 1390 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] |
1391 | public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact); | 1391 | public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact); |
1392 | 1392 | ||
1393 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] | 1393 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] |
1394 | public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); | 1394 | public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); |
1395 | 1395 | ||
1396 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] | 1396 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] |
1397 | public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); | 1397 | public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); |
1398 | 1398 | ||
1399 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] | 1399 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] |
1400 | public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); | 1400 | public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); |
1401 | 1401 | ||
1402 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] | 1402 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] |
1403 | public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); | 1403 | public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); |
1404 | 1404 | ||
1405 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] | 1405 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] |
1406 | public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); | 1406 | public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); |
1407 | 1407 | ||
1408 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] | 1408 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] |
1409 | public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); | 1409 | public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); |
1410 | 1410 | ||
1411 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] | 1411 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] |
1412 | public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); | 1412 | public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); |
1413 | 1413 | ||
1414 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] | 1414 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] |
1415 | public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); | 1415 | public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); |
1416 | 1416 | ||
1417 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] | 1417 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] |
1418 | public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); | 1418 | public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); |
1419 | 1419 | ||
1420 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] | 1420 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] |
1421 | public static extern void JointDestroy(IntPtr j); | 1421 | public static extern void JointDestroy(IntPtr j); |
1422 | 1422 | ||
1423 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] | 1423 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] |
1424 | public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); | 1424 | public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); |
1425 | 1425 | ||
1426 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] | 1426 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] |
1427 | public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); | 1427 | public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); |
1428 | 1428 | ||
1429 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] | 1429 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] |
1430 | public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); | 1430 | public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); |
1431 | 1431 | ||
1432 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] | 1432 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] |
1433 | public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); | 1433 | public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); |
1434 | 1434 | ||
1435 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] | 1435 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] |
1436 | public static extern int JointGetAMotorMode(IntPtr j); | 1436 | public static extern int JointGetAMotorMode(IntPtr j); |
1437 | 1437 | ||
1438 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] | 1438 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] |
1439 | public static extern int JointGetAMotorNumAxes(IntPtr j); | 1439 | public static extern int JointGetAMotorNumAxes(IntPtr j); |
1440 | 1440 | ||
1441 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] | 1441 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] |
1442 | public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); | 1442 | public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); |
1443 | 1443 | ||
1444 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] | 1444 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] |
1445 | public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); | 1445 | public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); |
1446 | 1446 | ||
1447 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] | 1447 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] |
1448 | public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); | 1448 | public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); |
1449 | 1449 | ||
1450 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] | 1450 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] |
1451 | public static extern IntPtr JointGetBody(IntPtr j); | 1451 | public static extern IntPtr JointGetBody(IntPtr j); |
1452 | 1452 | ||
1453 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] | 1453 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] |
1454 | public static extern IntPtr JointGetData(IntPtr j); | 1454 | public static extern IntPtr JointGetData(IntPtr j); |
1455 | 1455 | ||
1456 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] | 1456 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] |
1457 | public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); | 1457 | public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); |
1458 | public static JointFeedback JointGetFeedback(IntPtr j) | 1458 | public static JointFeedback JointGetFeedback(IntPtr j) |
1459 | { | 1459 | { |
1460 | unsafe { return *(JointGetFeedbackUnsafe(j)); } | 1460 | unsafe { return *(JointGetFeedbackUnsafe(j)); } |
1461 | } | 1461 | } |
1462 | 1462 | ||
1463 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] | 1463 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] |
1464 | public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); | 1464 | public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); |
1465 | 1465 | ||
1466 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] | 1466 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] |
1467 | public static extern dReal JointGetHingeAngle(IntPtr j); | 1467 | public static extern dReal JointGetHingeAngle(IntPtr j); |
1468 | 1468 | ||
1469 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] | 1469 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] |
1470 | public static extern dReal JointGetHingeAngleRate(IntPtr j); | 1470 | public static extern dReal JointGetHingeAngleRate(IntPtr j); |
1471 | 1471 | ||
1472 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] | 1472 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] |
1473 | public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); | 1473 | public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); |
1474 | 1474 | ||
1475 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] | 1475 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] |
1476 | public static extern dReal JointGetHingeParam(IntPtr j, int parameter); | 1476 | public static extern dReal JointGetHingeParam(IntPtr j, int parameter); |
1477 | 1477 | ||
1478 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] | 1478 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] |
1479 | public static extern dReal JointGetHinge2Angle1(IntPtr j); | 1479 | public static extern dReal JointGetHinge2Angle1(IntPtr j); |
1480 | 1480 | ||
1481 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] | 1481 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] |
1482 | public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); | 1482 | public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); |
1483 | 1483 | ||
1484 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] | 1484 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] |
1485 | public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); | 1485 | public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); |
1486 | 1486 | ||
1487 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] | 1487 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] |
1488 | public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); | 1488 | public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); |
1489 | 1489 | ||
1490 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] | 1490 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] |
1491 | public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); | 1491 | public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); |
1492 | 1492 | ||
1493 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] | 1493 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] |
1494 | public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); | 1494 | public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); |
1495 | 1495 | ||
1496 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] | 1496 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] |
1497 | public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); | 1497 | public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); |
1498 | 1498 | ||
1499 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] | 1499 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] |
1500 | public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); | 1500 | public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); |
1501 | 1501 | ||
1502 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] | 1502 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] |
1503 | public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); | 1503 | public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); |
1504 | 1504 | ||
1505 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] | 1505 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] |
1506 | public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); | 1506 | public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); |
1507 | 1507 | ||
1508 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] | 1508 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] |
1509 | public static extern int JointGetLMotorNumAxes(IntPtr j); | 1509 | public static extern int JointGetLMotorNumAxes(IntPtr j); |
1510 | 1510 | ||
1511 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] | 1511 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] |
1512 | public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); | 1512 | public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); |
1513 | 1513 | ||
1514 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] | 1514 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] |
1515 | public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); | 1515 | public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); |
1516 | 1516 | ||
1517 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] | 1517 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] |
1518 | public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); | 1518 | public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); |
1519 | 1519 | ||
1520 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] | 1520 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] |
1521 | public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); | 1521 | public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); |
1522 | 1522 | ||
1523 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] | 1523 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] |
1524 | public static extern dReal JointGetPRParam(IntPtr j, int parameter); | 1524 | public static extern dReal JointGetPRParam(IntPtr j, int parameter); |
1525 | 1525 | ||
1526 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] | 1526 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] |
1527 | public static extern dReal JointGetPRPosition(IntPtr j); | 1527 | public static extern dReal JointGetPRPosition(IntPtr j); |
1528 | 1528 | ||
1529 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] | 1529 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] |
1530 | public static extern dReal JointGetPRPositionRate(IntPtr j); | 1530 | public static extern dReal JointGetPRPositionRate(IntPtr j); |
1531 | 1531 | ||
1532 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] | 1532 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] |
1533 | public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); | 1533 | public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); |
1534 | 1534 | ||
1535 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] | 1535 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] |
1536 | public static extern dReal JointGetSliderParam(IntPtr j, int parameter); | 1536 | public static extern dReal JointGetSliderParam(IntPtr j, int parameter); |
1537 | 1537 | ||
1538 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] | 1538 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] |
1539 | public static extern dReal JointGetSliderPosition(IntPtr j); | 1539 | public static extern dReal JointGetSliderPosition(IntPtr j); |
1540 | 1540 | ||
1541 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] | 1541 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] |
1542 | public static extern dReal JointGetSliderPositionRate(IntPtr j); | 1542 | public static extern dReal JointGetSliderPositionRate(IntPtr j); |
1543 | 1543 | ||
1544 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] | 1544 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] |
1545 | public static extern JointType JointGetType(IntPtr j); | 1545 | public static extern JointType JointGetType(IntPtr j); |
1546 | 1546 | ||
1547 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] | 1547 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] |
1548 | public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); | 1548 | public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); |
1549 | 1549 | ||
1550 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] | 1550 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] |
1551 | public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); | 1551 | public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); |
1552 | 1552 | ||
1553 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] | 1553 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] |
1554 | public static extern dReal JointGetUniversalAngle1(IntPtr j); | 1554 | public static extern dReal JointGetUniversalAngle1(IntPtr j); |
1555 | 1555 | ||
1556 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] | 1556 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] |
1557 | public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); | 1557 | public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); |
1558 | 1558 | ||
1559 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] | 1559 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] |
1560 | public static extern dReal JointGetUniversalAngle2(IntPtr j); | 1560 | public static extern dReal JointGetUniversalAngle2(IntPtr j); |
1561 | 1561 | ||
1562 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] | 1562 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] |
1563 | public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); | 1563 | public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); |
1564 | 1564 | ||
1565 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] | 1565 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] |
1566 | public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); | 1566 | public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); |
1567 | 1567 | ||
1568 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] | 1568 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] |
1569 | public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); | 1569 | public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); |
1570 | 1570 | ||
1571 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] | 1571 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] |
1572 | public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); | 1572 | public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); |
1573 | 1573 | ||
1574 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] | 1574 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] |
1575 | public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); | 1575 | public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); |
1576 | 1576 | ||
1577 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] | 1577 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] |
1578 | public static extern IntPtr JointGroupCreate(int max_size); | 1578 | public static extern IntPtr JointGroupCreate(int max_size); |
1579 | 1579 | ||
1580 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] | 1580 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] |
1581 | public static extern void JointGroupDestroy(IntPtr group); | 1581 | public static extern void JointGroupDestroy(IntPtr group); |
1582 | 1582 | ||
1583 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] | 1583 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] |
1584 | public static extern void JointGroupEmpty(IntPtr group); | 1584 | public static extern void JointGroupEmpty(IntPtr group); |
1585 | 1585 | ||
1586 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] | 1586 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] |
1587 | public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); | 1587 | public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); |
1588 | 1588 | ||
1589 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] | 1589 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] |
1590 | public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); | 1590 | public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); |
1591 | 1591 | ||
1592 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] | 1592 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] |
1593 | public static extern void JointSetAMotorMode(IntPtr j, int mode); | 1593 | public static extern void JointSetAMotorMode(IntPtr j, int mode); |
1594 | 1594 | ||
1595 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] | 1595 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] |
1596 | public static extern void JointSetAMotorNumAxes(IntPtr group, int num); | 1596 | public static extern void JointSetAMotorNumAxes(IntPtr group, int num); |
1597 | 1597 | ||
1598 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] | 1598 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] |
1599 | public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); | 1599 | public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); |
1600 | 1600 | ||
1601 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] | 1601 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] |
1602 | public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); | 1602 | public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); |
1603 | 1603 | ||
1604 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] | 1604 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] |
1605 | public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); | 1605 | public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); |
1606 | 1606 | ||
1607 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] | 1607 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] |
1608 | public static extern void JointSetData(IntPtr j, IntPtr data); | 1608 | public static extern void JointSetData(IntPtr j, IntPtr data); |
1609 | 1609 | ||
1610 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] | 1610 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] |
1611 | public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); | 1611 | public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); |
1612 | 1612 | ||
1613 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] | 1613 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] |
1614 | public static extern void JointSetFixed(IntPtr j); | 1614 | public static extern void JointSetFixed(IntPtr j); |
1615 | 1615 | ||
1616 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] | 1616 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] |
1617 | public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); | 1617 | public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); |
1618 | 1618 | ||
1619 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] | 1619 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] |
1620 | public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); | 1620 | public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); |
1621 | 1621 | ||
1622 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] | 1622 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] |
1623 | public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); | 1623 | public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); |
1624 | 1624 | ||
1625 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] | 1625 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] |
1626 | public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); | 1626 | public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); |
1627 | 1627 | ||
1628 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] | 1628 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] |
1629 | public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); | 1629 | public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); |
1630 | 1630 | ||
1631 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] | 1631 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] |
1632 | public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); | 1632 | public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); |
1633 | 1633 | ||
1634 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] | 1634 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] |
1635 | public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); | 1635 | public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); |
1636 | 1636 | ||
1637 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] | 1637 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] |
1638 | public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); | 1638 | public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); |
1639 | 1639 | ||
1640 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] | 1640 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] |
1641 | public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); | 1641 | public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); |
1642 | 1642 | ||
1643 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] | 1643 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] |
1644 | public static extern void JointSetLMotorNumAxes(IntPtr j, int num); | 1644 | public static extern void JointSetLMotorNumAxes(IntPtr j, int num); |
1645 | 1645 | ||
1646 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] | 1646 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] |
1647 | public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); | 1647 | public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); |
1648 | 1648 | ||
1649 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] | 1649 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] |
1650 | public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); | 1650 | public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); |
1651 | 1651 | ||
1652 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] | 1652 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] |
1653 | public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); | 1653 | public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); |
1654 | 1654 | ||
1655 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] | 1655 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] |
1656 | public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); | 1656 | public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); |
1657 | 1657 | ||
1658 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] | 1658 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] |
1659 | public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); | 1659 | public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); |
1660 | 1660 | ||
1661 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] | 1661 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] |
1662 | public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); | 1662 | public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); |
1663 | 1663 | ||
1664 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] | 1664 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] |
1665 | public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); | 1665 | public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); |
1666 | 1666 | ||
1667 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] | 1667 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] |
1668 | public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); | 1668 | public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); |
1669 | 1669 | ||
1670 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] | 1670 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] |
1671 | public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); | 1671 | public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); |
1672 | 1672 | ||
1673 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] | 1673 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] |
1674 | public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); | 1674 | public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); |
1675 | 1675 | ||
1676 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] | 1676 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] |
1677 | public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); | 1677 | public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); |
1678 | 1678 | ||
1679 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] | 1679 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] |
1680 | public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); | 1680 | public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); |
1681 | 1681 | ||
1682 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] | 1682 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] |
1683 | public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); | 1683 | public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); |
1684 | 1684 | ||
1685 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] | 1685 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] |
1686 | public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); | 1686 | public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); |
1687 | 1687 | ||
1688 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] | 1688 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] |
1689 | public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); | 1689 | public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); |
1690 | 1690 | ||
1691 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] | 1691 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] |
1692 | public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); | 1692 | public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); |
1693 | 1693 | ||
1694 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] | 1694 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] |
1695 | public static extern void MassAdd(ref Mass a, ref Mass b); | 1695 | public static extern void MassAdd(ref Mass a, ref Mass b); |
1696 | 1696 | ||
1697 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] | 1697 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] |
1698 | public static extern void MassAdjust(ref Mass m, dReal newmass); | 1698 | public static extern void MassAdjust(ref Mass m, dReal newmass); |
1699 | 1699 | ||
1700 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] | 1700 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] |
1701 | public static extern bool MassCheck(ref Mass m); | 1701 | public static extern bool MassCheck(ref Mass m); |
1702 | 1702 | ||
1703 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] | 1703 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] |
1704 | public static extern void MassRotate(ref Mass mass, ref Matrix3 R); | 1704 | public static extern void MassRotate(ref Mass mass, ref Matrix3 R); |
1705 | 1705 | ||
1706 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] | 1706 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] |
1707 | public static extern void MassRotate(ref Mass mass, ref dReal M00); | 1707 | public static extern void MassRotate(ref Mass mass, ref dReal M00); |
1708 | 1708 | ||
1709 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] | 1709 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] |
1710 | public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); | 1710 | public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); |
1711 | 1711 | ||
1712 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] | 1712 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] |
1713 | public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); | 1713 | public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); |
1714 | 1714 | ||
1715 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] | 1715 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] |
1716 | public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); | 1716 | public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); |
1717 | 1717 | ||
1718 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] | 1718 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] |
1719 | public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); | 1719 | public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); |
1720 | 1720 | ||
1721 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] | 1721 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] |
1722 | public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); | 1722 | public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); |
1723 | 1723 | ||
1724 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] | 1724 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] |
1725 | public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); | 1725 | public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); |
1726 | 1726 | ||
1727 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] | 1727 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] |
1728 | public static extern void MassSetParameters(out Mass mass, dReal themass, | 1728 | public static extern void MassSetParameters(out Mass mass, dReal themass, |
1729 | dReal cgx, dReal cgy, dReal cgz, | 1729 | dReal cgx, dReal cgy, dReal cgz, |
1730 | dReal i11, dReal i22, dReal i33, | 1730 | dReal i11, dReal i22, dReal i33, |
1731 | dReal i12, dReal i13, dReal i23); | 1731 | dReal i12, dReal i13, dReal i23); |
1732 | 1732 | ||
1733 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] | 1733 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] |
1734 | public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); | 1734 | public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); |
1735 | 1735 | ||
1736 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] | 1736 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] |
1737 | public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); | 1737 | public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); |
1738 | 1738 | ||
1739 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] | 1739 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] |
1740 | public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); | 1740 | public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); |
1741 | 1741 | ||
1742 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] | 1742 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] |
1743 | public static extern void MassSetZero(out Mass mass); | 1743 | public static extern void MassSetZero(out Mass mass); |
1744 | 1744 | ||
1745 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] | 1745 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] |
1746 | public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); | 1746 | public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); |
1747 | 1747 | ||
1748 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] | 1748 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] |
1749 | public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); | 1749 | public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); |
@@ -1755,119 +1755,119 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1755 | MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1); | 1755 | MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1); |
1756 | } | 1756 | } |
1757 | 1757 | ||
1758 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] | 1758 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] |
1759 | public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); | 1759 | public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); |
1760 | 1760 | ||
1761 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] | 1761 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] |
1762 | public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); | 1762 | public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); |
1763 | 1763 | ||
1764 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] | 1764 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] |
1765 | public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); | 1765 | public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); |
1766 | 1766 | ||
1767 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] | 1767 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] |
1768 | public static extern void QfromR(out Quaternion q, ref Matrix3 R); | 1768 | public static extern void QfromR(out Quaternion q, ref Matrix3 R); |
1769 | 1769 | ||
1770 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] | 1770 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] |
1771 | public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | 1771 | public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); |
1772 | 1772 | ||
1773 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] | 1773 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] |
1774 | public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | 1774 | public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); |
1775 | 1775 | ||
1776 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] | 1776 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] |
1777 | public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | 1777 | public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); |
1778 | 1778 | ||
1779 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] | 1779 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] |
1780 | public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | 1780 | public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); |
1781 | 1781 | ||
1782 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] | 1782 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] |
1783 | public static extern void QSetIdentity(out Quaternion q); | 1783 | public static extern void QSetIdentity(out Quaternion q); |
1784 | 1784 | ||
1785 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] | 1785 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] |
1786 | public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); | 1786 | public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); |
1787 | 1787 | ||
1788 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] | 1788 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] |
1789 | public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); | 1789 | public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); |
1790 | 1790 | ||
1791 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] | 1791 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] |
1792 | public static extern dReal RandReal(); | 1792 | public static extern dReal RandReal(); |
1793 | 1793 | ||
1794 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] | 1794 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] |
1795 | public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); | 1795 | public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); |
1796 | 1796 | ||
1797 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] | 1797 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] |
1798 | public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); | 1798 | public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); |
1799 | 1799 | ||
1800 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] | 1800 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] |
1801 | public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); | 1801 | public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); |
1802 | 1802 | ||
1803 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] | 1803 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] |
1804 | public static extern void RfromQ(out Matrix3 R, ref Quaternion q); | 1804 | public static extern void RfromQ(out Matrix3 R, ref Quaternion q); |
1805 | 1805 | ||
1806 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] | 1806 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] |
1807 | public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); | 1807 | public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); |
1808 | 1808 | ||
1809 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] | 1809 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] |
1810 | public static extern void RSetIdentity(out Matrix3 R); | 1810 | public static extern void RSetIdentity(out Matrix3 R); |
1811 | 1811 | ||
1812 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] | 1812 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] |
1813 | public static extern void SetValue(out dReal a, int n); | 1813 | public static extern void SetValue(out dReal a, int n); |
1814 | 1814 | ||
1815 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] | 1815 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] |
1816 | public static extern void SetZero(out dReal a, int n); | 1816 | public static extern void SetZero(out dReal a, int n); |
1817 | 1817 | ||
1818 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] | 1818 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] |
1819 | public static extern IntPtr SimpleSpaceCreate(IntPtr space); | 1819 | public static extern IntPtr SimpleSpaceCreate(IntPtr space); |
1820 | 1820 | ||
1821 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] | 1821 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] |
1822 | public static extern void SolveCholesky(ref dReal L, out dReal b, int n); | 1822 | public static extern void SolveCholesky(ref dReal L, out dReal b, int n); |
1823 | 1823 | ||
1824 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] | 1824 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] |
1825 | public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); | 1825 | public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); |
1826 | 1826 | ||
1827 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] | 1827 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] |
1828 | public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); | 1828 | public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); |
1829 | 1829 | ||
1830 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] | 1830 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] |
1831 | public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); | 1831 | public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); |
1832 | 1832 | ||
1833 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] | 1833 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] |
1834 | public static extern void SpaceAdd(IntPtr space, IntPtr geom); | 1834 | public static extern void SpaceAdd(IntPtr space, IntPtr geom); |
1835 | 1835 | ||
1836 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] | 1836 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] |
1837 | public static extern bool SpaceLockQuery(IntPtr space); | 1837 | public static extern bool SpaceLockQuery(IntPtr space); |
1838 | 1838 | ||
1839 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] | 1839 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] |
1840 | public static extern void SpaceClean(IntPtr space); | 1840 | public static extern void SpaceClean(IntPtr space); |
1841 | 1841 | ||
1842 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] | 1842 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] |
1843 | public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); | 1843 | public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); |
1844 | 1844 | ||
1845 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] | 1845 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] |
1846 | public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); | 1846 | public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); |
1847 | 1847 | ||
1848 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] | 1848 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] |
1849 | public static extern void SpaceDestroy(IntPtr space); | 1849 | public static extern void SpaceDestroy(IntPtr space); |
1850 | 1850 | ||
1851 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] | 1851 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] |
1852 | public static extern bool SpaceGetCleanup(IntPtr space); | 1852 | public static extern bool SpaceGetCleanup(IntPtr space); |
1853 | 1853 | ||
1854 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] | 1854 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] |
1855 | public static extern int SpaceGetNumGeoms(IntPtr space); | 1855 | public static extern int SpaceGetNumGeoms(IntPtr space); |
1856 | 1856 | ||
1857 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] | 1857 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] |
1858 | public static extern IntPtr SpaceGetGeom(IntPtr space, int i); | 1858 | public static extern IntPtr SpaceGetGeom(IntPtr space, int i); |
1859 | 1859 | ||
1860 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] | 1860 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] |
1861 | public static extern int SpaceGetSublevel(IntPtr space); | 1861 | public static extern int SpaceGetSublevel(IntPtr space); |
1862 | 1862 | ||
1863 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] | 1863 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] |
1864 | public static extern bool SpaceQuery(IntPtr space, IntPtr geom); | 1864 | public static extern bool SpaceQuery(IntPtr space, IntPtr geom); |
1865 | 1865 | ||
1866 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] | 1866 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] |
1867 | public static extern void SpaceRemove(IntPtr space, IntPtr geom); | 1867 | public static extern void SpaceRemove(IntPtr space, IntPtr geom); |
1868 | 1868 | ||
1869 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] | 1869 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] |
1870 | public static extern void SpaceSetCleanup(IntPtr space, bool mode); | 1870 | public static extern void SpaceSetCleanup(IntPtr space, bool mode); |
1871 | 1871 | ||
1872 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] | 1872 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] |
1873 | public static extern void SpaceSetSublevel(IntPtr space, int sublevel); | 1873 | public static extern void SpaceSetSublevel(IntPtr space, int sublevel); |
@@ -1875,53 +1875,53 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1875 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] | 1875 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] |
1876 | public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); | 1876 | public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); |
1877 | 1877 | ||
1878 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] | 1878 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] |
1879 | public static extern void VectorScale(out dReal a, ref dReal d, int n); | 1879 | public static extern void VectorScale(out dReal a, ref dReal d, int n); |
1880 | 1880 | ||
1881 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] | 1881 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] |
1882 | public static extern IntPtr WorldCreate(); | 1882 | public static extern IntPtr WorldCreate(); |
1883 | 1883 | ||
1884 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] | 1884 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] |
1885 | public static extern void WorldDestroy(IntPtr world); | 1885 | public static extern void WorldDestroy(IntPtr world); |
1886 | 1886 | ||
1887 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] | 1887 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] |
1888 | public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); | 1888 | public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); |
1889 | 1889 | ||
1890 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | 1890 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] |
1891 | public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); | 1891 | public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); |
1892 | 1892 | ||
1893 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | 1893 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] |
1894 | public static extern bool WorldGetAutoDisableFlag(IntPtr world); | 1894 | public static extern bool WorldGetAutoDisableFlag(IntPtr world); |
1895 | 1895 | ||
1896 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | 1896 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] |
1897 | public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); | 1897 | public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); |
1898 | 1898 | ||
1899 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | 1899 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] |
1900 | public static extern int WorldGetAutoDisableSteps(IntPtr world); | 1900 | public static extern int WorldGetAutoDisableSteps(IntPtr world); |
1901 | 1901 | ||
1902 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | 1902 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] |
1903 | public static extern dReal WorldGetAutoDisableTime(IntPtr world); | 1903 | public static extern dReal WorldGetAutoDisableTime(IntPtr world); |
1904 | 1904 | ||
1905 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] | 1905 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] |
1906 | public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); | 1906 | public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); |
1907 | 1907 | ||
1908 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] | 1908 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] |
1909 | public static extern dReal WorldGetCFM(IntPtr world); | 1909 | public static extern dReal WorldGetCFM(IntPtr world); |
1910 | 1910 | ||
1911 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] | 1911 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] |
1912 | public static extern dReal WorldGetERP(IntPtr world); | 1912 | public static extern dReal WorldGetERP(IntPtr world); |
1913 | 1913 | ||
1914 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] | 1914 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] |
1915 | public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); | 1915 | public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); |
1916 | 1916 | ||
1917 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] | 1917 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] |
1918 | public static extern void WorldGetGravity(IntPtr world, out dReal X); | 1918 | public static extern void WorldGetGravity(IntPtr world, out dReal X); |
1919 | 1919 | ||
1920 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] | 1920 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] |
1921 | public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); | 1921 | public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); |
1922 | 1922 | ||
1923 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] | 1923 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] |
1924 | public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); | 1924 | public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); |
1925 | 1925 | ||
1926 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] | 1926 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] |
1927 | public static extern dReal WorldGetAngularDamping(IntPtr world); | 1927 | public static extern dReal WorldGetAngularDamping(IntPtr world); |
@@ -1935,23 +1935,23 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1935 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | 1935 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] |
1936 | public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); | 1936 | public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); |
1937 | 1937 | ||
1938 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] | 1938 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] |
1939 | public static extern int WorldGetQuickStepNumIterations(IntPtr world); | 1939 | public static extern int WorldGetQuickStepNumIterations(IntPtr world); |
1940 | 1940 | ||
1941 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] | 1941 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] |
1942 | public static extern dReal WorldGetQuickStepW(IntPtr world); | 1942 | public static extern dReal WorldGetQuickStepW(IntPtr world); |
1943 | 1943 | ||
1944 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] | 1944 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] |
1945 | public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); | 1945 | public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); |
1946 | 1946 | ||
1947 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] | 1947 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] |
1948 | public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); | 1948 | public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); |
1949 | 1949 | ||
1950 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] | 1950 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] |
1951 | public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); | 1951 | public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); |
1952 | 1952 | ||
1953 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] | 1953 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] |
1954 | public static extern void WorldQuickStep(IntPtr world, dReal stepsize); | 1954 | public static extern void WorldQuickStep(IntPtr world, dReal stepsize); |
1955 | 1955 | ||
1956 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] | 1956 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] |
1957 | public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); | 1957 | public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); |
@@ -1959,67 +1959,67 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1959 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | 1959 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] |
1960 | public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); | 1960 | public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); |
1961 | 1961 | ||
1962 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | 1962 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] |
1963 | public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); | 1963 | public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); |
1964 | 1964 | ||
1965 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] | 1965 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] |
1966 | public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); | 1966 | public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); |
1967 | 1967 | ||
1968 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | 1968 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] |
1969 | public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); | 1969 | public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); |
1970 | 1970 | ||
1971 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | 1971 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] |
1972 | public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); | 1972 | public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); |
1973 | 1973 | ||
1974 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | 1974 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] |
1975 | public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); | 1975 | public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); |
1976 | 1976 | ||
1977 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | 1977 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] |
1978 | public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); | 1978 | public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); |
1979 | 1979 | ||
1980 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] | 1980 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] |
1981 | public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); | 1981 | public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); |
1982 | 1982 | ||
1983 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] | 1983 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] |
1984 | public static extern void WorldSetCFM(IntPtr world, dReal cfm); | 1984 | public static extern void WorldSetCFM(IntPtr world, dReal cfm); |
1985 | 1985 | ||
1986 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] | 1986 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] |
1987 | public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); | 1987 | public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); |
1988 | 1988 | ||
1989 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] | 1989 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] |
1990 | public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); | 1990 | public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); |
1991 | 1991 | ||
1992 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] | 1992 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] |
1993 | public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); | 1993 | public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); |
1994 | 1994 | ||
1995 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] | 1995 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] |
1996 | public static extern void WorldSetERP(IntPtr world, dReal erp); | 1996 | public static extern void WorldSetERP(IntPtr world, dReal erp); |
1997 | |||
1998 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity] | ||
1999 | public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z); | ||
1997 | 2000 | ||
1998 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity] | ||
1999 | public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z); | ||
2000 | |||
2001 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] | 2001 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] |
2002 | public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); | 2002 | public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); |
2003 | 2003 | ||
2004 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | 2004 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] |
2005 | public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); | 2005 | public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); |
2006 | 2006 | ||
2007 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] | 2007 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] |
2008 | public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); | 2008 | public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); |
2009 | 2009 | ||
2010 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] | 2010 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] |
2011 | public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); | 2011 | public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); |
2012 | 2012 | ||
2013 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] | 2013 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] |
2014 | public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); | 2014 | public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); |
2015 | 2015 | ||
2016 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] | 2016 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] |
2017 | public static extern void WorldStep(IntPtr world, dReal stepsize); | 2017 | public static extern void WorldStep(IntPtr world, dReal stepsize); |
2018 | 2018 | ||
2019 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] | 2019 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] |
2020 | public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); | 2020 | public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); |
2021 | 2021 | ||
2022 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] | 2022 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] |
2023 | public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); | 2023 | public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); |
2024 | } | 2024 | } |
2025 | } | 2025 | } |
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs index aaf90f2..98bfd1c 100644 --- a/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs +++ b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs | |||
@@ -149,7 +149,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
149 | /// Collision geometry | 149 | /// Collision geometry |
150 | /// </summary> | 150 | /// </summary> |
151 | internal IntPtr Shell { get; private set; } | 151 | internal IntPtr Shell { get; private set; } |
152 | 152 | ||
153 | private IntPtr Amotor = IntPtr.Zero; | 153 | private IntPtr Amotor = IntPtr.Zero; |
154 | private d.Mass ShellMass; | 154 | private d.Mass ShellMass; |
155 | 155 | ||
@@ -237,7 +237,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
237 | m_tainted_isPhysical = true; // new tainted status: need to create ODE information | 237 | m_tainted_isPhysical = true; // new tainted status: need to create ODE information |
238 | 238 | ||
239 | _parent_scene.AddPhysicsActorTaint(this); | 239 | _parent_scene.AddPhysicsActorTaint(this); |
240 | 240 | ||
241 | Name = avName; | 241 | Name = avName; |
242 | } | 242 | } |
243 | 243 | ||
@@ -461,7 +461,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
461 | value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; | 461 | value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; |
462 | } | 462 | } |
463 | 463 | ||
464 | m_taintPosition = value; | 464 | m_taintPosition = value; |
465 | _parent_scene.AddPhysicsActorTaint(this); | 465 | _parent_scene.AddPhysicsActorTaint(this); |
466 | } | 466 | } |
467 | else | 467 | else |
@@ -796,7 +796,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
796 | internal void Move(List<OdeCharacter> defects) | 796 | internal void Move(List<OdeCharacter> defects) |
797 | { | 797 | { |
798 | // no lock; for now it's only called from within Simulate() | 798 | // no lock; for now it's only called from within Simulate() |
799 | 799 | ||
800 | // If the PID Controller isn't active then we set our force | 800 | // If the PID Controller isn't active then we set our force |
801 | // calculating base velocity to the current position | 801 | // calculating base velocity to the current position |
802 | 802 | ||
@@ -811,7 +811,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
811 | 811 | ||
812 | d.Vector3 localpos = d.BodyGetPosition(Body); | 812 | d.Vector3 localpos = d.BodyGetPosition(Body); |
813 | Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z); | 813 | Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z); |
814 | 814 | ||
815 | if (!localPos.IsFinite()) | 815 | if (!localPos.IsFinite()) |
816 | { | 816 | { |
817 | m_log.WarnFormat( | 817 | m_log.WarnFormat( |
@@ -1248,10 +1248,10 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1248 | } | 1248 | } |
1249 | 1249 | ||
1250 | public override Vector3 PIDTarget { set { return; } } | 1250 | public override Vector3 PIDTarget { set { return; } } |
1251 | public override bool PIDActive | 1251 | public override bool PIDActive |
1252 | { | 1252 | { |
1253 | get { return false; } | 1253 | get { return false; } |
1254 | set { return; } | 1254 | set { return; } |
1255 | } | 1255 | } |
1256 | public override float PIDTau { set { return; } } | 1256 | public override float PIDTau { set { return; } } |
1257 | 1257 | ||
@@ -1259,7 +1259,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1259 | public override bool PIDHoverActive {get {return false;} set { return; } } | 1259 | public override bool PIDHoverActive {get {return false;} set { return; } } |
1260 | public override PIDHoverType PIDHoverType { set { return; } } | 1260 | public override PIDHoverType PIDHoverType { set { return; } } |
1261 | public override float PIDHoverTau { set { return; } } | 1261 | public override float PIDHoverTau { set { return; } } |
1262 | 1262 | ||
1263 | public override Quaternion APIDTarget{ set { return; } } | 1263 | public override Quaternion APIDTarget{ set { return; } } |
1264 | 1264 | ||
1265 | public override bool APIDActive{ set { return; } } | 1265 | public override bool APIDActive{ set { return; } } |
@@ -1369,7 +1369,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1369 | // m_log.DebugFormat( | 1369 | // m_log.DebugFormat( |
1370 | // "[ODE CHARACTER]: Changing capsule size from {0} to {1} for {2}", | 1370 | // "[ODE CHARACTER]: Changing capsule size from {0} to {1} for {2}", |
1371 | // CAPSULE_LENGTH, m_tainted_CAPSULE_LENGTH, Name); | 1371 | // CAPSULE_LENGTH, m_tainted_CAPSULE_LENGTH, Name); |
1372 | 1372 | ||
1373 | m_pidControllerActive = true; | 1373 | m_pidControllerActive = true; |
1374 | 1374 | ||
1375 | // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate() | 1375 | // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate() |
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs index ff19384..7e95d7f 100644 --- a/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs +++ b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs | |||
@@ -914,7 +914,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
914 | 914 | ||
915 | // Sum velocities | 915 | // Sum velocities |
916 | m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection | 916 | m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection |
917 | 917 | ||
918 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) | 918 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) |
919 | { | 919 | { |
920 | m_lastAngularVelocity.X = 0; | 920 | m_lastAngularVelocity.X = 0; |
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs b/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs index d61ee61..22fc84d 100644 --- a/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs +++ b/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs | |||
@@ -9,14 +9,14 @@ using OpenSim.Region.Framework.Interfaces; | |||
9 | 9 | ||
10 | namespace OpenSim.Region.PhysicsModule.ODE | 10 | namespace OpenSim.Region.PhysicsModule.ODE |
11 | { | 11 | { |
12 | [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ODEPhysicsScene")] | 12 | [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ODEPhysicsScene")] |
13 | public class OdeModule : INonSharedRegionModule | 13 | public class OdeModule : INonSharedRegionModule |
14 | { | 14 | { |
15 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | 15 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
16 | 16 | ||
17 | private bool m_Enabled = false; | 17 | private bool m_Enabled = false; |
18 | private IConfigSource m_config; | 18 | private IConfigSource m_config; |
19 | private OdeScene m_scene; | 19 | private OdeScene m_scene; |
20 | 20 | ||
21 | #region INonSharedRegionModule | 21 | #region INonSharedRegionModule |
22 | 22 | ||
@@ -84,6 +84,6 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
84 | 84 | ||
85 | m_scene.RegionLoaded(); | 85 | m_scene.RegionLoaded(); |
86 | } | 86 | } |
87 | #endregion | 87 | #endregion |
88 | } | 88 | } |
89 | } | 89 | } |
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs index 36546aa..8934330 100644 --- a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs +++ b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs | |||
@@ -33,7 +33,7 @@ | |||
33 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | 33 | * ODEDynamics.cs contains methods dealing with Prim Physical motion |
34 | * (dynamics) and the associated settings. Old Linear and angular | 34 | * (dynamics) and the associated settings. Old Linear and angular |
35 | * motors for dynamic motion have been replace with MoveLinear() | 35 | * motors for dynamic motion have been replace with MoveLinear() |
36 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | 36 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic |
37 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | 37 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to |
38 | * switch between 'VEHICLE' parameter use and general dynamics | 38 | * switch between 'VEHICLE' parameter use and general dynamics |
39 | * settings use. | 39 | * settings use. |
@@ -133,7 +133,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
133 | private float m_targetHoverHeight; | 133 | private float m_targetHoverHeight; |
134 | private float m_groundHeight; | 134 | private float m_groundHeight; |
135 | private float m_waterHeight; | 135 | private float m_waterHeight; |
136 | private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | 136 | private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. |
137 | 137 | ||
138 | // private float m_tensor = 5f; | 138 | // private float m_tensor = 5f; |
139 | private int body_autodisable_frames = 20; | 139 | private int body_autodisable_frames = 20; |
@@ -170,7 +170,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
170 | 170 | ||
171 | private PrimitiveBaseShape _pbs; | 171 | private PrimitiveBaseShape _pbs; |
172 | private OdeScene _parent_scene; | 172 | private OdeScene _parent_scene; |
173 | 173 | ||
174 | /// <summary> | 174 | /// <summary> |
175 | /// The physics space which contains prim geometries | 175 | /// The physics space which contains prim geometries |
176 | /// </summary> | 176 | /// </summary> |
@@ -443,7 +443,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
443 | 443 | ||
444 | d.BodySetAutoDisableFlag(Body, true); | 444 | d.BodySetAutoDisableFlag(Body, true); |
445 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | 445 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); |
446 | 446 | ||
447 | // disconnect from world gravity so we can apply buoyancy | 447 | // disconnect from world gravity so we can apply buoyancy |
448 | d.BodySetGravityMode (Body, false); | 448 | d.BodySetGravityMode (Body, false); |
449 | 449 | ||
@@ -474,8 +474,8 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
474 | 474 | ||
475 | float returnMass = 0; | 475 | float returnMass = 0; |
476 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; | 476 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; |
477 | float hollowVolume = hollowAmount * hollowAmount; | 477 | float hollowVolume = hollowAmount * hollowAmount; |
478 | 478 | ||
479 | switch (_pbs.ProfileShape) | 479 | switch (_pbs.ProfileShape) |
480 | { | 480 | { |
481 | case ProfileShape.Square: | 481 | case ProfileShape.Square: |
@@ -511,16 +511,16 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
511 | 511 | ||
512 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 512 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
513 | { | 513 | { |
514 | //a tube | 514 | //a tube |
515 | 515 | ||
516 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); | 516 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); |
517 | tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); | 517 | tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); |
518 | volume -= volume*tmp*tmp; | 518 | volume -= volume*tmp*tmp; |
519 | 519 | ||
520 | if (hollowAmount > 0.0) | 520 | if (hollowAmount > 0.0) |
521 | { | 521 | { |
522 | hollowVolume *= hollowAmount; | 522 | hollowVolume *= hollowAmount; |
523 | 523 | ||
524 | switch (_pbs.HollowShape) | 524 | switch (_pbs.HollowShape) |
525 | { | 525 | { |
526 | case HollowShape.Square: | 526 | case HollowShape.Square: |
@@ -579,7 +579,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
579 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); | 579 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); |
580 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | 580 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); |
581 | volume *= (1.0f - tmp * tmp); | 581 | volume *= (1.0f - tmp * tmp); |
582 | 582 | ||
583 | if (hollowAmount > 0.0) | 583 | if (hollowAmount > 0.0) |
584 | { | 584 | { |
585 | 585 | ||
@@ -845,7 +845,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
845 | else | 845 | else |
846 | { | 846 | { |
847 | _parent_scene.DeactivatePrim(this); | 847 | _parent_scene.DeactivatePrim(this); |
848 | 848 | ||
849 | m_collisionCategories &= ~CollisionCategories.Body; | 849 | m_collisionCategories &= ~CollisionCategories.Body; |
850 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | 850 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); |
851 | 851 | ||
@@ -916,7 +916,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
916 | else | 916 | else |
917 | { | 917 | { |
918 | _triMeshData = d.GeomTriMeshDataCreate(); | 918 | _triMeshData = d.GeomTriMeshDataCreate(); |
919 | 919 | ||
920 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); | 920 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); |
921 | d.GeomTriMeshDataPreprocess(_triMeshData); | 921 | d.GeomTriMeshDataPreprocess(_triMeshData); |
922 | m_MeshToTriMeshMap[mesh] = _triMeshData; | 922 | m_MeshToTriMeshMap[mesh] = _triMeshData; |
@@ -974,7 +974,7 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
974 | rotate(); | 974 | rotate(); |
975 | } | 975 | } |
976 | } | 976 | } |
977 | 977 | ||
978 | if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent)) | 978 | if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent)) |
979 | changePhysicsStatus(); | 979 | changePhysicsStatus(); |
980 | 980 | ||
@@ -1074,7 +1074,7 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1074 | else if (_parent != null && m_taintparent == null) | 1074 | else if (_parent != null && m_taintparent == null) |
1075 | { | 1075 | { |
1076 | //Console.WriteLine(" changelink B"); | 1076 | //Console.WriteLine(" changelink B"); |
1077 | 1077 | ||
1078 | if (_parent is OdePrim) | 1078 | if (_parent is OdePrim) |
1079 | { | 1079 | { |
1080 | OdePrim obj = (OdePrim)_parent; | 1080 | OdePrim obj = (OdePrim)_parent; |
@@ -1082,16 +1082,16 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1082 | childPrim = false; | 1082 | childPrim = false; |
1083 | //_parent = null; | 1083 | //_parent = null; |
1084 | } | 1084 | } |
1085 | 1085 | ||
1086 | /* | 1086 | /* |
1087 | if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0) | 1087 | if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0) |
1088 | d.JointGroupDestroy(_linkJointGroup); | 1088 | d.JointGroupDestroy(_linkJointGroup); |
1089 | 1089 | ||
1090 | _linkJointGroup = (IntPtr)0; | 1090 | _linkJointGroup = (IntPtr)0; |
1091 | m_linkJoint = (IntPtr)0; | 1091 | m_linkJoint = (IntPtr)0; |
1092 | */ | 1092 | */ |
1093 | } | 1093 | } |
1094 | 1094 | ||
1095 | _parent = m_taintparent; | 1095 | _parent = m_taintparent; |
1096 | m_taintPhysics = IsPhysical; | 1096 | m_taintPhysics = IsPhysical; |
1097 | } | 1097 | } |
@@ -1345,7 +1345,7 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1345 | // in between the disabling and the collision properties setting | 1345 | // in between the disabling and the collision properties setting |
1346 | // which would wake the physical body up from a soft disabling and potentially cause it to fall | 1346 | // which would wake the physical body up from a soft disabling and potentially cause it to fall |
1347 | // through the ground. | 1347 | // through the ground. |
1348 | 1348 | ||
1349 | // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select | 1349 | // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select |
1350 | // just one part of the assembly, the rest of the assembly is non-selected and still simulating, | 1350 | // just one part of the assembly, the rest of the assembly is non-selected and still simulating, |
1351 | // so that causes the selected part to wake up and continue moving. | 1351 | // so that causes the selected part to wake up and continue moving. |
@@ -1359,7 +1359,7 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1359 | // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are | 1359 | // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are |
1360 | // selected and disabled. then, due to a thread switch, the selection processing is | 1360 | // selected and disabled. then, due to a thread switch, the selection processing is |
1361 | // interrupted and the physics engine continues to simulate, so the last 50 items, whose | 1361 | // interrupted and the physics engine continues to simulate, so the last 50 items, whose |
1362 | // selection was not yet processed, continues to simulate. this wakes up ALL of the | 1362 | // selection was not yet processed, continues to simulate. this wakes up ALL of the |
1363 | // first 50 again. then the last 50 are disabled. then the first 50, which were just woken | 1363 | // first 50 again. then the last 50 are disabled. then the first 50, which were just woken |
1364 | // up, start simulating again, which in turn wakes up the last 50. | 1364 | // up, start simulating again, which in turn wakes up the last 50. |
1365 | 1365 | ||
@@ -1565,7 +1565,7 @@ Console.WriteLine("CreateGeom:"); | |||
1565 | private void changeadd() | 1565 | private void changeadd() |
1566 | { | 1566 | { |
1567 | // m_log.DebugFormat("[ODE PRIM]: Adding prim {0}", Name); | 1567 | // m_log.DebugFormat("[ODE PRIM]: Adding prim {0}", Name); |
1568 | 1568 | ||
1569 | int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position); | 1569 | int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position); |
1570 | IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position); | 1570 | IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position); |
1571 | 1571 | ||
@@ -1711,10 +1711,10 @@ Console.WriteLine(" JointCreateFixed"); | |||
1711 | // fz = 0f; | 1711 | // fz = 0f; |
1712 | //m_log.Info(m_collisionFlags.ToString()); | 1712 | //m_log.Info(m_collisionFlags.ToString()); |
1713 | 1713 | ||
1714 | 1714 | ||
1715 | //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | 1715 | //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. |
1716 | // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ?? | 1716 | // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ?? |
1717 | // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up | 1717 | // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up |
1718 | // gravityz multiplier = 1 - m_buoyancy | 1718 | // gravityz multiplier = 1 - m_buoyancy |
1719 | fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; | 1719 | fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; |
1720 | 1720 | ||
@@ -1729,7 +1729,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1729 | fz = 0f; | 1729 | fz = 0f; |
1730 | 1730 | ||
1731 | // no lock; for now it's only called from within Simulate() | 1731 | // no lock; for now it's only called from within Simulate() |
1732 | 1732 | ||
1733 | // If the PID Controller isn't active then we set our force | 1733 | // If the PID Controller isn't active then we set our force |
1734 | // calculating base velocity to the current position | 1734 | // calculating base velocity to the current position |
1735 | 1735 | ||
@@ -1738,7 +1738,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1738 | //PID_G = PID_G / m_PIDTau; | 1738 | //PID_G = PID_G / m_PIDTau; |
1739 | m_PIDTau = 1; | 1739 | m_PIDTau = 1; |
1740 | } | 1740 | } |
1741 | 1741 | ||
1742 | if ((PID_G - m_PIDTau) <= 0) | 1742 | if ((PID_G - m_PIDTau) <= 0) |
1743 | { | 1743 | { |
1744 | PID_G = m_PIDTau + 1; | 1744 | PID_G = m_PIDTau + 1; |
@@ -1761,7 +1761,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1761 | if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f)) | 1761 | if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f)) |
1762 | { | 1762 | { |
1763 | // keep track of where we stopped. No more slippin' & slidin' | 1763 | // keep track of where we stopped. No more slippin' & slidin' |
1764 | 1764 | ||
1765 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | 1765 | // We only want to deactivate the PID Controller if we think we want to have our surrogate |
1766 | // react to the physics scene by moving it's position. | 1766 | // react to the physics scene by moving it's position. |
1767 | // Avatar to Avatar collisions | 1767 | // Avatar to Avatar collisions |
@@ -1782,7 +1782,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1782 | // We're flying and colliding with something | 1782 | // We're flying and colliding with something |
1783 | fx = ((_target_velocity.X) - vel.X) * (PID_D); | 1783 | fx = ((_target_velocity.X) - vel.X) * (PID_D); |
1784 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); | 1784 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); |
1785 | 1785 | ||
1786 | // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; | 1786 | // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; |
1787 | 1787 | ||
1788 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); | 1788 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); |
@@ -1793,7 +1793,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1793 | if (m_useHoverPID && !PIDActive) | 1793 | if (m_useHoverPID && !PIDActive) |
1794 | { | 1794 | { |
1795 | //Console.WriteLine("Hover " + Name); | 1795 | //Console.WriteLine("Hover " + Name); |
1796 | 1796 | ||
1797 | // If we're using the PID controller, then we have no gravity | 1797 | // If we're using the PID controller, then we have no gravity |
1798 | fz = (-1 * _parent_scene.gravityz) * m_mass; | 1798 | fz = (-1 * _parent_scene.gravityz) * m_mass; |
1799 | 1799 | ||
@@ -1850,7 +1850,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1850 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) | 1850 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) |
1851 | { | 1851 | { |
1852 | // keep track of where we stopped. No more slippin' & slidin' | 1852 | // keep track of where we stopped. No more slippin' & slidin' |
1853 | 1853 | ||
1854 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | 1854 | // We only want to deactivate the PID Controller if we think we want to have our surrogate |
1855 | // react to the physics scene by moving it's position. | 1855 | // react to the physics scene by moving it's position. |
1856 | // Avatar to Avatar collisions | 1856 | // Avatar to Avatar collisions |
@@ -1888,7 +1888,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1888 | { | 1888 | { |
1889 | // A physical body at rest on a surface will auto-disable after a while, | 1889 | // A physical body at rest on a surface will auto-disable after a while, |
1890 | // this appears to re-enable it incase the surface it is upon vanishes, | 1890 | // this appears to re-enable it incase the surface it is upon vanishes, |
1891 | // and the body should fall again. | 1891 | // and the body should fall again. |
1892 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | 1892 | d.BodySetLinearVel(Body, 0f, 0f, 0f); |
1893 | d.BodySetForce(Body, 0, 0, 0); | 1893 | d.BodySetForce(Body, 0, 0, 0); |
1894 | enableBodySoft(); | 1894 | enableBodySoft(); |
@@ -1897,7 +1897,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1897 | // 35x10 = 350n times the mass per second applied maximum. | 1897 | // 35x10 = 350n times the mass per second applied maximum. |
1898 | float nmax = 35f * m_mass; | 1898 | float nmax = 35f * m_mass; |
1899 | float nmin = -35f * m_mass; | 1899 | float nmin = -35f * m_mass; |
1900 | 1900 | ||
1901 | if (fx > nmax) | 1901 | if (fx > nmax) |
1902 | fx = nmax; | 1902 | fx = nmax; |
1903 | if (fx < nmin) | 1903 | if (fx < nmin) |
@@ -1916,7 +1916,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1916 | // _zeroPosition = d.BodyGetPosition(Body); | 1916 | // _zeroPosition = d.BodyGetPosition(Body); |
1917 | return; | 1917 | return; |
1918 | //Console.WriteLine("Nothing " + Name); | 1918 | //Console.WriteLine("Nothing " + Name); |
1919 | 1919 | ||
1920 | } | 1920 | } |
1921 | } | 1921 | } |
1922 | 1922 | ||
@@ -1942,7 +1942,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1942 | // daughter prim, do Geom set | 1942 | // daughter prim, do Geom set |
1943 | d.GeomSetQuaternion(prim_geom, ref myrot); | 1943 | d.GeomSetQuaternion(prim_geom, ref myrot); |
1944 | } | 1944 | } |
1945 | 1945 | ||
1946 | resetCollisionAccounting(); | 1946 | resetCollisionAccounting(); |
1947 | m_taintrot = _orientation; | 1947 | m_taintrot = _orientation; |
1948 | } | 1948 | } |
@@ -2080,7 +2080,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
2080 | else | 2080 | else |
2081 | m_assetFailed = false; | 2081 | m_assetFailed = false; |
2082 | } | 2082 | } |
2083 | 2083 | ||
2084 | } | 2084 | } |
2085 | 2085 | ||
2086 | CreateGeom(m_targetSpace, mesh); | 2086 | CreateGeom(m_targetSpace, mesh); |
@@ -2312,7 +2312,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
2312 | } | 2312 | } |
2313 | d.BodyEnable(Body); | 2313 | d.BodyEnable(Body); |
2314 | d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z); | 2314 | d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z); |
2315 | 2315 | ||
2316 | } | 2316 | } |
2317 | m_angularforcelist.Clear(); | 2317 | m_angularforcelist.Clear(); |
2318 | } | 2318 | } |
@@ -2342,7 +2342,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
2342 | d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); | 2342 | d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); |
2343 | } | 2343 | } |
2344 | } | 2344 | } |
2345 | 2345 | ||
2346 | //resetCollisionAccounting(); | 2346 | //resetCollisionAccounting(); |
2347 | } | 2347 | } |
2348 | 2348 | ||
@@ -2686,7 +2686,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
2686 | 2686 | ||
2687 | if(m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | 2687 | if(m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) |
2688 | m_vehicle.Stop(); // this also updates vehicle last position from the body position | 2688 | m_vehicle.Stop(); // this also updates vehicle last position from the body position |
2689 | 2689 | ||
2690 | enableBodySoft(); | 2690 | enableBodySoft(); |
2691 | 2691 | ||
2692 | outofBounds = false; | 2692 | outofBounds = false; |
@@ -2899,12 +2899,12 @@ Console.WriteLine(" JointCreateFixed"); | |||
2899 | _acceleration = ((_velocity - m_lastVelocity) / 0.1f); | 2899 | _acceleration = ((_velocity - m_lastVelocity) / 0.1f); |
2900 | _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); | 2900 | _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); |
2901 | //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); | 2901 | //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); |
2902 | 2902 | ||
2903 | // Note here that linearvelocity is affecting angular velocity... so I'm guessing this is a vehicle specific thing... | 2903 | // Note here that linearvelocity is affecting angular velocity... so I'm guessing this is a vehicle specific thing... |
2904 | // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large. | 2904 | // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large. |
2905 | // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles | 2905 | // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles |
2906 | // adding these logical exclusion situations to maintain this where I think it was intended to be. | 2906 | // adding these logical exclusion situations to maintain this where I think it was intended to be. |
2907 | if (m_throttleUpdates || PIDActive || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) | 2907 | if (m_throttleUpdates || PIDActive || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) |
2908 | { | 2908 | { |
2909 | m_minvelocity = 0.5f; | 2909 | m_minvelocity = 0.5f; |
2910 | } | 2910 | } |
@@ -2973,8 +2973,8 @@ Console.WriteLine(" JointCreateFixed"); | |||
2973 | { | 2973 | { |
2974 | } | 2974 | } |
2975 | 2975 | ||
2976 | public override Vector3 PIDTarget | 2976 | public override Vector3 PIDTarget |
2977 | { | 2977 | { |
2978 | set | 2978 | set |
2979 | { | 2979 | { |
2980 | if (value.IsFinite()) | 2980 | if (value.IsFinite()) |
@@ -2983,7 +2983,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
2983 | } | 2983 | } |
2984 | else | 2984 | else |
2985 | m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); | 2985 | m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); |
2986 | } | 2986 | } |
2987 | } | 2987 | } |
2988 | 2988 | ||
2989 | public override bool PIDActive { get; set; } | 2989 | public override bool PIDActive { get; set; } |
@@ -2993,7 +2993,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
2993 | public override bool PIDHoverActive { get { return m_useHoverPID;} set { m_useHoverPID = value; } } | 2993 | public override bool PIDHoverActive { get { return m_useHoverPID;} set { m_useHoverPID = value; } } |
2994 | public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } | 2994 | public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } |
2995 | public override float PIDHoverTau { set { m_PIDHoverTau = value; } } | 2995 | public override float PIDHoverTau { set { m_PIDHoverTau = value; } } |
2996 | 2996 | ||
2997 | public override Quaternion APIDTarget{ set { return; } } | 2997 | public override Quaternion APIDTarget{ set { return; } } |
2998 | 2998 | ||
2999 | public override bool APIDActive{ set { return; } } | 2999 | public override bool APIDActive{ set { return; } } |
@@ -3189,7 +3189,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
3189 | // m_assetFailed = false; | 3189 | // m_assetFailed = false; |
3190 | 3190 | ||
3191 | // m_log.DebugFormat( | 3191 | // m_log.DebugFormat( |
3192 | // "[ODE PRIM]: Received mesh/sculpt data asset {0} with {1} bytes for {2} at {3} in {4}", | 3192 | // "[ODE PRIM]: Received mesh/sculpt data asset {0} with {1} bytes for {2} at {3} in {4}", |
3193 | // _pbs.SculptTexture, _pbs.SculptData.Length, Name, _position, _parent_scene.Name); | 3193 | // _pbs.SculptTexture, _pbs.SculptData.Length, Name, _position, _parent_scene.Name); |
3194 | 3194 | ||
3195 | m_taintshape = true; | 3195 | m_taintshape = true; |
@@ -3201,6 +3201,6 @@ Console.WriteLine(" JointCreateFixed"); | |||
3201 | "[ODE PRIM]: Could not get mesh/sculpt asset {0} for {1} at {2} in {3}", | 3201 | "[ODE PRIM]: Could not get mesh/sculpt asset {0} for {1} at {2} in {3}", |
3202 | _pbs.SculptTexture, Name, _position, _parent_scene.PhysicsSceneName); | 3202 | _pbs.SculptTexture, Name, _position, _parent_scene.PhysicsSceneName); |
3203 | } | 3203 | } |
3204 | } | 3204 | } |
3205 | } | 3205 | } |
3206 | } \ No newline at end of file | 3206 | } \ No newline at end of file |
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs index a21ec2b..78dd7de 100644 --- a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs +++ b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs | |||
@@ -75,7 +75,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
75 | { | 75 | { |
76 | m_scene = pScene; | 76 | m_scene = pScene; |
77 | nearCallback = near; | 77 | nearCallback = near; |
78 | 78 | ||
79 | } | 79 | } |
80 | 80 | ||
81 | /// <summary> | 81 | /// <summary> |
@@ -136,7 +136,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
136 | ODERayCastRequest[] reqs = m_PendingRequests.ToArray(); | 136 | ODERayCastRequest[] reqs = m_PendingRequests.ToArray(); |
137 | for (int i = 0; i < reqs.Length; i++) | 137 | for (int i = 0; i < reqs.Length; i++) |
138 | { | 138 | { |
139 | if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast | 139 | if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast |
140 | RayCast(reqs[i]); // if there isn't anyone to send results | 140 | RayCast(reqs[i]); // if there isn't anyone to send results |
141 | } | 141 | } |
142 | 142 | ||
@@ -151,7 +151,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
151 | ODERayRequest[] reqs = m_PendingRayRequests.ToArray(); | 151 | ODERayRequest[] reqs = m_PendingRayRequests.ToArray(); |
152 | for (int i = 0; i < reqs.Length; i++) | 152 | for (int i = 0; i < reqs.Length; i++) |
153 | { | 153 | { |
154 | if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast | 154 | if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast |
155 | RayCast(reqs[i]); // if there isn't anyone to send results | 155 | RayCast(reqs[i]); // if there isn't anyone to send results |
156 | } | 156 | } |
157 | 157 | ||
@@ -247,7 +247,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
247 | req.callbackMethod(m_contactResults); | 247 | req.callbackMethod(m_contactResults); |
248 | } | 248 | } |
249 | } | 249 | } |
250 | 250 | ||
251 | // This is the standard Near. Uses space AABBs to speed up detection. | 251 | // This is the standard Near. Uses space AABBs to speed up detection. |
252 | private void near(IntPtr space, IntPtr g1, IntPtr g2) | 252 | private void near(IntPtr space, IntPtr g1, IntPtr g2) |
253 | { | 253 | { |
@@ -262,7 +262,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
262 | { | 262 | { |
263 | if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) | 263 | if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) |
264 | return; | 264 | return; |
265 | 265 | ||
266 | // Separating static prim geometry spaces. | 266 | // Separating static prim geometry spaces. |
267 | // We'll be calling near recursivly if one | 267 | // We'll be calling near recursivly if one |
268 | // of them is a space to find all of the | 268 | // of them is a space to find all of the |
@@ -290,7 +290,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
290 | int count = 0; | 290 | int count = 0; |
291 | try | 291 | try |
292 | { | 292 | { |
293 | 293 | ||
294 | if (g1 == g2) | 294 | if (g1 == g2) |
295 | return; // Can't collide with yourself | 295 | return; // Can't collide with yourself |
296 | 296 | ||
@@ -326,7 +326,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
326 | if (p1 is OdePrim) | 326 | if (p1 is OdePrim) |
327 | { | 327 | { |
328 | ContactResult collisionresult = new ContactResult(); | 328 | ContactResult collisionresult = new ContactResult(); |
329 | 329 | ||
330 | collisionresult.ConsumerID = p1.LocalID; | 330 | collisionresult.ConsumerID = p1.LocalID; |
331 | collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z); | 331 | collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z); |
332 | collisionresult.Depth = contacts[i].depth; | 332 | collisionresult.Depth = contacts[i].depth; |
diff --git a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs index ed2aad4..d15568e 100644 --- a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs +++ b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs | |||
@@ -126,7 +126,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
126 | /// </remarks> | 126 | /// </remarks> |
127 | internal static Object UniversalColliderSyncObject = new Object(); | 127 | internal static Object UniversalColliderSyncObject = new Object(); |
128 | internal static Object SimulationLock = new Object(); | 128 | internal static Object SimulationLock = new Object(); |
129 | 129 | ||
130 | /// <summary> | 130 | /// <summary> |
131 | /// Is stats collecting enabled for this ODE scene? | 131 | /// Is stats collecting enabled for this ODE scene? |
132 | /// </summary> | 132 | /// </summary> |
@@ -495,14 +495,14 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
495 | int spaceGridMaxY; | 495 | int spaceGridMaxY; |
496 | 496 | ||
497 | private ODERayCastRequestManager m_rayCastManager; | 497 | private ODERayCastRequestManager m_rayCastManager; |
498 | 498 | ||
499 | public Scene m_frameWorkScene = null; | 499 | public Scene m_frameWorkScene = null; |
500 | 500 | ||
501 | public OdeScene(Scene pscene, IConfigSource psourceconfig, string pname, string pversion) | 501 | public OdeScene(Scene pscene, IConfigSource psourceconfig, string pname, string pversion) |
502 | { | 502 | { |
503 | m_config = psourceconfig; | 503 | m_config = psourceconfig; |
504 | m_frameWorkScene = pscene; | 504 | m_frameWorkScene = pscene; |
505 | 505 | ||
506 | EngineType = pname; | 506 | EngineType = pname; |
507 | PhysicsSceneName = EngineType + "/" + pscene.RegionInfo.RegionName; | 507 | PhysicsSceneName = EngineType + "/" + pscene.RegionInfo.RegionName; |
508 | EngineName = pname + " " + pversion; | 508 | EngineName = pname + " " + pversion; |
@@ -513,8 +513,8 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
513 | InitialiseFromConfig(m_config); | 513 | InitialiseFromConfig(m_config); |
514 | 514 | ||
515 | // This may not be that good since terrain may not be avaiable at this point | 515 | // This may not be that good since terrain may not be avaiable at this point |
516 | base.Initialise(pscene.PhysicsRequestAsset, | 516 | base.Initialise(pscene.PhysicsRequestAsset, |
517 | (pscene.Heightmap != null ? pscene.Heightmap.GetFloatsSerialised() : new float[(int)(extent.X * extent.Y)]), | 517 | (pscene.Heightmap != null ? pscene.Heightmap.GetFloatsSerialised() : new float[(int)(extent.X * extent.Y)]), |
518 | (float)pscene.RegionInfo.RegionSettings.WaterHeight); | 518 | (float)pscene.RegionInfo.RegionSettings.WaterHeight); |
519 | 519 | ||
520 | } | 520 | } |
@@ -524,8 +524,8 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
524 | mesher = m_frameWorkScene.RequestModuleInterface<IMesher>(); | 524 | mesher = m_frameWorkScene.RequestModuleInterface<IMesher>(); |
525 | if (mesher == null) | 525 | if (mesher == null) |
526 | m_log.WarnFormat("[ODE SCENE]: No mesher in {0}. Things will not work well.", PhysicsSceneName); | 526 | m_log.WarnFormat("[ODE SCENE]: No mesher in {0}. Things will not work well.", PhysicsSceneName); |
527 | 527 | ||
528 | m_frameWorkScene.PhysicsEnabled = true; | 528 | m_frameWorkScene.PhysicsEnabled = true; |
529 | } | 529 | } |
530 | 530 | ||
531 | /// <summary> | 531 | /// <summary> |
@@ -535,11 +535,11 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
535 | /// </summary> | 535 | /// </summary> |
536 | private void Initialise(Vector3 regionExtent) | 536 | private void Initialise(Vector3 regionExtent) |
537 | { | 537 | { |
538 | WorldExtents.X = regionExtent.X; | 538 | WorldExtents.X = regionExtent.X; |
539 | m_regionWidth = (uint)regionExtent.X; | 539 | m_regionWidth = (uint)regionExtent.X; |
540 | WorldExtents.Y = regionExtent.Y; | 540 | WorldExtents.Y = regionExtent.Y; |
541 | m_regionHeight = (uint)regionExtent.Y; | 541 | m_regionHeight = (uint)regionExtent.Y; |
542 | 542 | ||
543 | nearCallback = near; | 543 | nearCallback = near; |
544 | m_rayCastManager = new ODERayCastRequestManager(this); | 544 | m_rayCastManager = new ODERayCastRequestManager(this); |
545 | 545 | ||
@@ -671,7 +671,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
671 | spacesPerMeterY = spaceGridMaxY / WorldExtents.Y; | 671 | spacesPerMeterY = spaceGridMaxY / WorldExtents.Y; |
672 | } | 672 | } |
673 | 673 | ||
674 | staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; | 674 | staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; |
675 | 675 | ||
676 | // make this index limits | 676 | // make this index limits |
677 | spaceGridMaxX--; | 677 | spaceGridMaxX--; |
@@ -948,7 +948,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
948 | { | 948 | { |
949 | if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) | 949 | if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) |
950 | return; | 950 | return; |
951 | 951 | ||
952 | // Separating static prim geometry spaces. | 952 | // Separating static prim geometry spaces. |
953 | // We'll be calling near recursivly if one | 953 | // We'll be calling near recursivly if one |
954 | // of them is a space to find all of the | 954 | // of them is a space to find all of the |
@@ -1027,10 +1027,10 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1027 | 1027 | ||
1028 | PhysicsActor p1; | 1028 | PhysicsActor p1; |
1029 | PhysicsActor p2; | 1029 | PhysicsActor p2; |
1030 | 1030 | ||
1031 | p1ExpectedPoints = 0; | 1031 | p1ExpectedPoints = 0; |
1032 | p2ExpectedPoints = 0; | 1032 | p2ExpectedPoints = 0; |
1033 | 1033 | ||
1034 | if (!actor_name_map.TryGetValue(g1, out p1)) | 1034 | if (!actor_name_map.TryGetValue(g1, out p1)) |
1035 | { | 1035 | { |
1036 | p1 = PANull; | 1036 | p1 = PANull; |
@@ -1067,7 +1067,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1067 | IntPtr joint; | 1067 | IntPtr joint; |
1068 | // If we're colliding with terrain, use 'TerrainContact' instead of contact. | 1068 | // If we're colliding with terrain, use 'TerrainContact' instead of contact. |
1069 | // allows us to have different settings | 1069 | // allows us to have different settings |
1070 | 1070 | ||
1071 | // We only need to test p2 for 'jump crouch purposes' | 1071 | // We only need to test p2 for 'jump crouch purposes' |
1072 | if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim) | 1072 | if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim) |
1073 | { | 1073 | { |
@@ -1081,7 +1081,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1081 | { | 1081 | { |
1082 | p2.IsColliding = true; | 1082 | p2.IsColliding = true; |
1083 | } | 1083 | } |
1084 | 1084 | ||
1085 | //if ((framecount % m_returncollisions) == 0) | 1085 | //if ((framecount % m_returncollisions) == 0) |
1086 | 1086 | ||
1087 | switch (p1.PhysicsActorType) | 1087 | switch (p1.PhysicsActorType) |
@@ -1160,7 +1160,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1160 | 1160 | ||
1161 | // Logic for collision handling | 1161 | // Logic for collision handling |
1162 | // Note, that if *all* contacts are skipped (VolumeDetect) | 1162 | // Note, that if *all* contacts are skipped (VolumeDetect) |
1163 | // The prim still detects (and forwards) collision events but | 1163 | // The prim still detects (and forwards) collision events but |
1164 | // appears to be phantom for the world | 1164 | // appears to be phantom for the world |
1165 | Boolean skipThisContact = false; | 1165 | Boolean skipThisContact = false; |
1166 | 1166 | ||
@@ -1235,10 +1235,10 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1235 | material = ((OdePrim) p2).m_material; | 1235 | material = ((OdePrim) p2).m_material; |
1236 | p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; | 1236 | p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; |
1237 | } | 1237 | } |
1238 | 1238 | ||
1239 | // Unnessesary because p1 is defined above | 1239 | // Unnessesary because p1 is defined above |
1240 | //if (p1 is OdePrim) | 1240 | //if (p1 is OdePrim) |
1241 | // { | 1241 | // { |
1242 | // p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts; | 1242 | // p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts; |
1243 | // } | 1243 | // } |
1244 | //m_log.DebugFormat("Material: {0}", material); | 1244 | //m_log.DebugFormat("Material: {0}", material); |
@@ -1350,7 +1350,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1350 | material = ((OdePrim)p2).m_material; | 1350 | material = ((OdePrim)p2).m_material; |
1351 | p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; | 1351 | p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; |
1352 | } | 1352 | } |
1353 | 1353 | ||
1354 | //m_log.DebugFormat("Material: {0}", material); | 1354 | //m_log.DebugFormat("Material: {0}", material); |
1355 | m_materialContacts[material, 0].geom = curContact; | 1355 | m_materialContacts[material, 0].geom = curContact; |
1356 | 1356 | ||
@@ -1370,7 +1370,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1370 | } | 1370 | } |
1371 | 1371 | ||
1372 | collision_accounting_events(p1, p2, maxDepthContact); | 1372 | collision_accounting_events(p1, p2, maxDepthContact); |
1373 | 1373 | ||
1374 | if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle)) | 1374 | if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle)) |
1375 | { | 1375 | { |
1376 | // If there are more then 3 contact points, it's likely | 1376 | // If there are more then 3 contact points, it's likely |
@@ -1410,7 +1410,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1410 | break; | 1410 | break; |
1411 | } | 1411 | } |
1412 | } | 1412 | } |
1413 | } | 1413 | } |
1414 | else if (at == ActorTypes.Prim) | 1414 | else if (at == ActorTypes.Prim) |
1415 | { | 1415 | { |
1416 | if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f))) | 1416 | if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f))) |
@@ -1544,11 +1544,11 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1544 | // since we don't know if we're colliding yet | 1544 | // since we don't know if we're colliding yet |
1545 | if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) | 1545 | if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) |
1546 | continue; | 1546 | continue; |
1547 | 1547 | ||
1548 | chr.IsColliding = false; | 1548 | chr.IsColliding = false; |
1549 | chr.CollidingGround = false; | 1549 | chr.CollidingGround = false; |
1550 | chr.CollidingObj = false; | 1550 | chr.CollidingObj = false; |
1551 | 1551 | ||
1552 | // Test the avatar's geometry for collision with the space | 1552 | // Test the avatar's geometry for collision with the space |
1553 | // This will return near and the space that they are the closest to | 1553 | // This will return near and the space that they are the closest to |
1554 | // And we'll run this again against the avatar and the space segment | 1554 | // And we'll run this again against the avatar and the space segment |
@@ -1562,7 +1562,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1562 | { | 1562 | { |
1563 | m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", PhysicsSceneName); | 1563 | m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", PhysicsSceneName); |
1564 | } | 1564 | } |
1565 | 1565 | ||
1566 | //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y); | 1566 | //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y); |
1567 | //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10) | 1567 | //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10) |
1568 | //{ | 1568 | //{ |
@@ -1655,7 +1655,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1655 | //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]); | 1655 | //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]); |
1656 | return (float)TerrainHeightFieldHeights[heightFieldGeom][index]; | 1656 | return (float)TerrainHeightFieldHeights[heightFieldGeom][index]; |
1657 | } | 1657 | } |
1658 | 1658 | ||
1659 | else | 1659 | else |
1660 | return 0f; | 1660 | return 0f; |
1661 | } | 1661 | } |
@@ -1675,7 +1675,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1675 | { | 1675 | { |
1676 | return 0f; | 1676 | return 0f; |
1677 | } | 1677 | } |
1678 | } | 1678 | } |
1679 | // End recovered. Kitto Flora | 1679 | // End recovered. Kitto Flora |
1680 | 1680 | ||
1681 | /// <summary> | 1681 | /// <summary> |
@@ -1685,7 +1685,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
1685 | internal void AddCollisionEventReporting(PhysicsActor obj) | 1685 | internal void AddCollisionEventReporting(PhysicsActor obj) |
1686 | { | 1686 | { |
1687 | // m_log.DebugFormat("[PHYSICS]: Adding {0} {1} to collision event reporting", obj.SOPName, obj.LocalID); | 1687 | // m_log.DebugFormat("[PHYSICS]: Adding {0} {1} to collision event reporting", obj.SOPName, obj.LocalID); |
1688 | 1688 | ||
1689 | lock (m_collisionEventActorsChanges) | 1689 | lock (m_collisionEventActorsChanges) |
1690 | m_collisionEventActorsChanges[obj.LocalID] = obj; | 1690 | m_collisionEventActorsChanges[obj.LocalID] = obj; |
1691 | } | 1691 | } |
@@ -2071,7 +2071,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
2071 | 2071 | ||
2072 | lock (externalJointRequestsLock) | 2072 | lock (externalJointRequestsLock) |
2073 | { | 2073 | { |
2074 | if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice | 2074 | if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice |
2075 | { | 2075 | { |
2076 | requestedJointsToBeCreated.Add(joint); | 2076 | requestedJointsToBeCreated.Add(joint); |
2077 | } | 2077 | } |
@@ -2417,7 +2417,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
2417 | // waitForSpaceUnlock(space); | 2417 | // waitForSpaceUnlock(space); |
2418 | d.SpaceSetSublevel(space, 1); | 2418 | d.SpaceSetSublevel(space, 1); |
2419 | d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]); | 2419 | d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]); |
2420 | 2420 | ||
2421 | return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]; | 2421 | return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]; |
2422 | } | 2422 | } |
2423 | 2423 | ||
@@ -2514,7 +2514,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
2514 | iPropertiesNotSupportedDefault++; | 2514 | iPropertiesNotSupportedDefault++; |
2515 | 2515 | ||
2516 | if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) | 2516 | if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) |
2517 | iPropertiesNotSupportedDefault++; | 2517 | iPropertiesNotSupportedDefault++; |
2518 | 2518 | ||
2519 | if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) | 2519 | if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) |
2520 | iPropertiesNotSupportedDefault++; | 2520 | iPropertiesNotSupportedDefault++; |
@@ -2587,7 +2587,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
2587 | #if SPAM | 2587 | #if SPAM |
2588 | m_log.Debug("Mesh"); | 2588 | m_log.Debug("Mesh"); |
2589 | #endif | 2589 | #endif |
2590 | return true; | 2590 | return true; |
2591 | } | 2591 | } |
2592 | 2592 | ||
2593 | /// <summary> | 2593 | /// <summary> |
@@ -2652,7 +2652,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
2652 | } | 2652 | } |
2653 | _taintedPrims.Clear(); | 2653 | _taintedPrims.Clear(); |
2654 | } | 2654 | } |
2655 | 2655 | ||
2656 | int time = Util.EnvironmentTickCountSubtract(tstart); | 2656 | int time = Util.EnvironmentTickCountSubtract(tstart); |
2657 | m_log.InfoFormat("[Ode] finished {0} operations in {1}ms", donechanges, time); | 2657 | m_log.InfoFormat("[Ode] finished {0} operations in {1}ms", donechanges, time); |
2658 | } | 2658 | } |
@@ -2716,7 +2716,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
2716 | CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks | 2716 | CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks |
2717 | } | 2717 | } |
2718 | 2718 | ||
2719 | 2719 | ||
2720 | lock (OdeLock) | 2720 | lock (OdeLock) |
2721 | { | 2721 | { |
2722 | d.AllocateODEDataForThread(~0U); | 2722 | d.AllocateODEDataForThread(~0U); |
@@ -3109,7 +3109,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
3109 | // as the axis for the hinge. | 3109 | // as the axis for the hinge. |
3110 | 3110 | ||
3111 | // Therefore, we must get the joint's coordinate frame based on the | 3111 | // Therefore, we must get the joint's coordinate frame based on the |
3112 | // joint.Rotation field, which originates from the orientation of the | 3112 | // joint.Rotation field, which originates from the orientation of the |
3113 | // joint's proxy object in the scene. | 3113 | // joint's proxy object in the scene. |
3114 | 3114 | ||
3115 | // The joint's coordinate frame is defined as the transformation matrix | 3115 | // The joint's coordinate frame is defined as the transformation matrix |
@@ -3237,7 +3237,7 @@ namespace OpenSim.Region.PhysicsModule.ODE | |||
3237 | int startTime = Util.EnvironmentTickCount(); | 3237 | int startTime = Util.EnvironmentTickCount(); |
3238 | m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", PhysicsSceneName, pOffset); | 3238 | m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", PhysicsSceneName, pOffset); |
3239 | 3239 | ||
3240 | 3240 | ||
3241 | float[] _heightmap; | 3241 | float[] _heightmap; |
3242 | 3242 | ||
3243 | // ok im lasy this are just a aliases | 3243 | // ok im lasy this are just a aliases |