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authorMelanie Thielker2017-01-05 19:07:37 +0000
committerMelanie Thielker2017-01-05 19:07:37 +0000
commitb16abc8166c29585cb76cc55c3bdd76e5833cb4f (patch)
tree6a34f465a74b7a3a6dc00a3d7aa8dcc25ac3e3a5 /OpenSim/Region/PhysicsModules/ubOde
parentMake 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/ubOde')
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEApi.cs2470
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs50
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs24
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEMeshWorker.cs12
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEModule.cs12
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs38
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs10
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs64
8 files changed, 1340 insertions, 1340 deletions
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEApi.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEApi.cs
index daf3af1..35adf11 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEApi.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEApi.cs
@@ -34,8 +34,8 @@ PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 36SOFTWARE, 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 */
@@ -51,18 +51,18 @@ namespace OdeAPI
51// at least we save same memory and memory access time, FPU performance on intel usually is similar 51// at least we save same memory and memory access time, FPU performance on intel usually is similar
52// using dReal = System.Double; 52// using dReal = System.Double;
53//#else 53//#else
54 using dReal = System.Single; 54 using dReal = System.Single;
55//#endif 55//#endif
56 56
57 public static class d 57 public static class d
58 { 58 {
59 public static dReal Infinity = dReal.MaxValue; 59 public static dReal Infinity = dReal.MaxValue;
60 public static int NTotalBodies = 0; 60 public static int NTotalBodies = 0;
61 public static int NTotalGeoms = 0; 61 public static int NTotalGeoms = 0;
62 62
63 public const uint CONTACTS_UNIMPORTANT = 0x80000000; 63 public const uint CONTACTS_UNIMPORTANT = 0x80000000;
64 64
65 #region Flags and Enumerations 65 #region Flags and Enumerations
66 66
67 [Flags] 67 [Flags]
68 public enum AllocateODEDataFlags : uint 68 public enum AllocateODEDataFlags : uint
@@ -78,101 +78,101 @@ namespace OdeAPI
78 dInitFlagManualThreadCleanup = 0x00000001 78 dInitFlagManualThreadCleanup = 0x00000001
79 } 79 }
80 80
81 [Flags] 81 [Flags]
82 public enum ContactFlags : int 82 public enum ContactFlags : int
83 { 83 {
84 Mu2 = 0x001, 84 Mu2 = 0x001,
85 FDir1 = 0x002, 85 FDir1 = 0x002,
86 Bounce = 0x004, 86 Bounce = 0x004,
87 SoftERP = 0x008, 87 SoftERP = 0x008,
88 SoftCFM = 0x010, 88 SoftCFM = 0x010,
89 Motion1 = 0x020, 89 Motion1 = 0x020,
90 Motion2 = 0x040, 90 Motion2 = 0x040,
91 MotionN = 0x080, 91 MotionN = 0x080,
92 Slip1 = 0x100, 92 Slip1 = 0x100,
93 Slip2 = 0x200, 93 Slip2 = 0x200,
94 Approx0 = 0x0000, 94 Approx0 = 0x0000,
95 Approx1_1 = 0x1000, 95 Approx1_1 = 0x1000,
96 Approx1_2 = 0x2000, 96 Approx1_2 = 0x2000,
97 Approx1 = 0x3000 97 Approx1 = 0x3000
98 } 98 }
99 99
100 public enum GeomClassID : int 100 public enum GeomClassID : int
101 { 101 {
102 SphereClass, 102 SphereClass,
103 BoxClass, 103 BoxClass,
104 CapsuleClass, 104 CapsuleClass,
105 CylinderClass, 105 CylinderClass,
106 PlaneClass, 106 PlaneClass,
107 RayClass, 107 RayClass,
108 ConvexClass, 108 ConvexClass,
109 GeomTransformClass, 109 GeomTransformClass,
110 TriMeshClass, 110 TriMeshClass,
111 HeightfieldClass, 111 HeightfieldClass,
112 FirstSpaceClass, 112 FirstSpaceClass,
113 SimpleSpaceClass = FirstSpaceClass, 113 SimpleSpaceClass = FirstSpaceClass,
114 HashSpaceClass, 114 HashSpaceClass,
115 QuadTreeSpaceClass, 115 QuadTreeSpaceClass,
116 LastSpaceClass = QuadTreeSpaceClass, 116 LastSpaceClass = QuadTreeSpaceClass,
117 ubtTerrainClass, 117 ubtTerrainClass,
118 FirstUserClass, 118 FirstUserClass,
119 LastUserClass = FirstUserClass + MaxUserClasses - 1, 119 LastUserClass = FirstUserClass + MaxUserClasses - 1,
120 NumClasses, 120 NumClasses,
121 MaxUserClasses = 5 121 MaxUserClasses = 5
122 } 122 }
123 123
124 public enum JointType : int 124 public enum JointType : int
125 { 125 {
126 None, 126 None,
127 Ball, 127 Ball,
128 Hinge, 128 Hinge,
129 Slider, 129 Slider,
130 Contact, 130 Contact,
131 Universal, 131 Universal,
132 Hinge2, 132 Hinge2,
133 Fixed, 133 Fixed,
134 Null, 134 Null,
135 AMotor, 135 AMotor,
136 LMotor, 136 LMotor,
137 Plane2D 137 Plane2D
138 } 138 }
139 139
140 public enum JointParam : int 140 public enum JointParam : int
141 { 141 {
142 LoStop, 142 LoStop,
143 HiStop, 143 HiStop,
144 Vel, 144 Vel,
145 FMax, 145 FMax,
146 FudgeFactor, 146 FudgeFactor,
147 Bounce, 147 Bounce,
148 CFM, 148 CFM,
149 StopERP, 149 StopERP,
150 StopCFM, 150 StopCFM,
151 SuspensionERP, 151 SuspensionERP,
152 SuspensionCFM, 152 SuspensionCFM,
153 LoStop2 = 256, 153 LoStop2 = 256,
154 HiStop2, 154 HiStop2,
155 Vel2, 155 Vel2,
156 FMax2, 156 FMax2,
157 FudgeFactor2, 157 FudgeFactor2,
158 Bounce2, 158 Bounce2,
159 CFM2, 159 CFM2,
160 StopERP2, 160 StopERP2,
161 StopCFM2, 161 StopCFM2,
162 SuspensionERP2, 162 SuspensionERP2,
163 SuspensionCFM2, 163 SuspensionCFM2,
164 LoStop3 = 512, 164 LoStop3 = 512,
165 HiStop3, 165 HiStop3,
166 Vel3, 166 Vel3,
167 FMax3, 167 FMax3,
168 FudgeFactor3, 168 FudgeFactor3,
169 Bounce3, 169 Bounce3,
170 CFM3, 170 CFM3,
171 StopERP3, 171 StopERP3,
172 StopCFM3, 172 StopCFM3,
173 SuspensionERP3, 173 SuspensionERP3,
174 SuspensionCFM3 174 SuspensionCFM3
175 } 175 }
176 176
177 public enum dSweepAndPruneAxis : int 177 public enum dSweepAndPruneAxis : int
178 { 178 {
@@ -184,24 +184,24 @@ namespace OdeAPI
184 ZYX = ((2)|(1<<2)|(0<<4)) 184 ZYX = ((2)|(1<<2)|(0<<4))
185 } 185 }
186 186
187 #endregion 187 #endregion
188 188
189 #region Callbacks 189 #region Callbacks
190 190
191 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 191 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
192 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); 192 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
193 193
194 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 194 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
195 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); 195 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
196 196
197 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 197 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
198 public delegate void GetAABBFn(IntPtr geom, out AABB aabb); 198 public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
199 199
200 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 200 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
201 public delegate ColliderFn GetColliderFnFn(int num); 201 public delegate ColliderFn GetColliderFnFn(int num);
202 202
203 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 203 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
204 public delegate void GeomDtorFn(IntPtr o); 204 public delegate void GeomDtorFn(IntPtr o);
205 205
206 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 206 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
207 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); 207 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
@@ -209,230 +209,230 @@ namespace OdeAPI
209 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 209 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
210 public delegate dReal OSTerrainGetHeight(IntPtr p_user_data, int x, int z); 210 public delegate dReal OSTerrainGetHeight(IntPtr p_user_data, int x, int z);
211 211
212 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 212 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
213 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); 213 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
214 214
215 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 215 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
216 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); 216 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
217 217
218 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 218 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
219 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); 219 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
220 220
221 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 221 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
222 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); 222 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
223 223
224 #endregion 224 #endregion
225 225
226 #region Structs 226 #region Structs
227 227
228 [StructLayout(LayoutKind.Sequential)] 228 [StructLayout(LayoutKind.Sequential)]
229 public struct AABB 229 public struct AABB
230 { 230 {
231 public dReal MinX, MaxX; 231 public dReal MinX, MaxX;
232 public dReal MinY, MaxY; 232 public dReal MinY, MaxY;
233 public dReal MinZ, MaxZ; 233 public dReal MinZ, MaxZ;
234 } 234 }
235 235
236 236
237 [StructLayout(LayoutKind.Sequential)] 237 [StructLayout(LayoutKind.Sequential)]
238 public struct Contact 238 public struct Contact
239 { 239 {
240 public SurfaceParameters surface; 240 public SurfaceParameters surface;
241 public ContactGeom geom; 241 public ContactGeom geom;
242 public Vector3 fdir1; 242 public Vector3 fdir1;
243 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact)); 243 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
244 } 244 }
245 245
246 246
247 [StructLayout(LayoutKind.Sequential)] 247 [StructLayout(LayoutKind.Sequential)]
248 public struct ContactGeom 248 public struct ContactGeom
249 { 249 {
250 250
251 public Vector3 pos; 251 public Vector3 pos;
252 public Vector3 normal; 252 public Vector3 normal;
253 public dReal depth; 253 public dReal depth;
254 public IntPtr g1; 254 public IntPtr g1;
255 public IntPtr g2; 255 public IntPtr g2;
256 public int side1; 256 public int side1;
257 public int side2; 257 public int side2;
258 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom)); 258 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
259 } 259 }
260 260
261 [StructLayout(LayoutKind.Sequential)] 261 [StructLayout(LayoutKind.Sequential)]
262 public struct GeomClass 262 public struct GeomClass
263 { 263 {
264 public int bytes; 264 public int bytes;
265 public GetColliderFnFn collider; 265 public GetColliderFnFn collider;
266 public GetAABBFn aabb; 266 public GetAABBFn aabb;
267 public AABBTestFn aabb_test; 267 public AABBTestFn aabb_test;
268 public GeomDtorFn dtor; 268 public GeomDtorFn dtor;
269 } 269 }
270 270
271 271
272 [StructLayout(LayoutKind.Sequential)] 272 [StructLayout(LayoutKind.Sequential)]
273 public struct JointFeedback 273 public struct JointFeedback
274 { 274 {
275 public Vector3 f1; 275 public Vector3 f1;
276 public Vector3 t1; 276 public Vector3 t1;
277 public Vector3 f2; 277 public Vector3 f2;
278 public Vector3 t2; 278 public Vector3 t2;
279 } 279 }
280 280
281 281
282 [StructLayout(LayoutKind.Sequential)] 282 [StructLayout(LayoutKind.Sequential)]
283 public struct Mass 283 public struct Mass
284 { 284 {
285 public dReal mass; 285 public dReal mass;
286 public Vector4 c; 286 public Vector4 c;
287 public Matrix3 I; 287 public Matrix3 I;
288 } 288 }
289 289
290 290
291 [StructLayout(LayoutKind.Sequential)] 291 [StructLayout(LayoutKind.Sequential)]
292 public struct Matrix3 292 public struct Matrix3
293 { 293 {
294 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) 294 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
295 { 295 {
296 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; 296 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
297 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; 297 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
298 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; 298 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
299 } 299 }
300 public dReal M00, M10, M20; 300 public dReal M00, M10, M20;
301 private dReal _m30; 301 private dReal _m30;
302 public dReal M01, M11, M21; 302 public dReal M01, M11, M21;
303 private dReal _m31; 303 private dReal _m31;
304 public dReal M02, M12, M22; 304 public dReal M02, M12, M22;
305 private dReal _m32; 305 private dReal _m32;
306 } 306 }
307 307
308 [StructLayout(LayoutKind.Sequential)] 308 [StructLayout(LayoutKind.Sequential)]
309 public struct Matrix4 309 public struct Matrix4
310 { 310 {
311 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, 311 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
312 dReal m01, dReal m11, dReal m21, dReal m31, 312 dReal m01, dReal m11, dReal m21, dReal m31,
313 dReal m02, dReal m12, dReal m22, dReal m32, 313 dReal m02, dReal m12, dReal m22, dReal m32,
314 dReal m03, dReal m13, dReal m23, dReal m33) 314 dReal m03, dReal m13, dReal m23, dReal m33)
315 { 315 {
316 M00 = m00; M10 = m10; M20 = m20; M30 = m30; 316 M00 = m00; M10 = m10; M20 = m20; M30 = m30;
317 M01 = m01; M11 = m11; M21 = m21; M31 = m31; 317 M01 = m01; M11 = m11; M21 = m21; M31 = m31;
318 M02 = m02; M12 = m12; M22 = m22; M32 = m32; 318 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
319 M03 = m03; M13 = m13; M23 = m23; M33 = m33; 319 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
320 } 320 }
321 public dReal M00, M10, M20, M30; 321 public dReal M00, M10, M20, M30;
322 public dReal M01, M11, M21, M31; 322 public dReal M01, M11, M21, M31;
323 public dReal M02, M12, M22, M32; 323 public dReal M02, M12, M22, M32;
324 public dReal M03, M13, M23, M33; 324 public dReal M03, M13, M23, M33;
325 } 325 }
326 326
327 [StructLayout(LayoutKind.Sequential)] 327 [StructLayout(LayoutKind.Sequential)]
328 public struct Quaternion 328 public struct Quaternion
329 { 329 {
330 public dReal W, X, Y, Z; 330 public dReal W, X, Y, Z;
331 } 331 }
332 332
333 333
334 [StructLayout(LayoutKind.Sequential)] 334 [StructLayout(LayoutKind.Sequential)]
335 public struct SurfaceParameters 335 public struct SurfaceParameters
336 { 336 {
337 public ContactFlags mode; 337 public ContactFlags mode;
338 public dReal mu; 338 public dReal mu;
339 public dReal mu2; 339 public dReal mu2;
340 public dReal bounce; 340 public dReal bounce;
341 public dReal bounce_vel; 341 public dReal bounce_vel;
342 public dReal soft_erp; 342 public dReal soft_erp;
343 public dReal soft_cfm; 343 public dReal soft_cfm;
344 public dReal motion1; 344 public dReal motion1;
345 public dReal motion2; 345 public dReal motion2;
346 public dReal motionN; 346 public dReal motionN;
347 public dReal slip1; 347 public dReal slip1;
348 public dReal slip2; 348 public dReal slip2;
349 } 349 }
350 350
351 351
352 [StructLayout(LayoutKind.Sequential)] 352 [StructLayout(LayoutKind.Sequential)]
353 public struct Vector3 353 public struct Vector3
354 { 354 {
355 public Vector3(dReal x, dReal y, dReal z) 355 public Vector3(dReal x, dReal y, dReal z)
356 { 356 {
357 X = x; Y = y; Z = z; _w = 0.0f; 357 X = x; Y = y; Z = z; _w = 0.0f;
358 } 358 }
359 public dReal X, Y, Z; 359 public dReal X, Y, Z;
360 private dReal _w; 360 private dReal _w;
361 } 361 }
362 362
363 363
364 [StructLayout(LayoutKind.Sequential)] 364 [StructLayout(LayoutKind.Sequential)]
365 public struct Vector4 365 public struct Vector4
366 { 366 {
367 public Vector4(dReal x, dReal y, dReal z, dReal w) 367 public Vector4(dReal x, dReal y, dReal z, dReal w)
368 { 368 {
369 X = x; Y = y; Z = z; W = w; 369 X = x; Y = y; Z = z; W = w;
370 } 370 }
371 public dReal X, Y, Z, W; 371 public dReal X, Y, Z, W;
372 } 372 }
373 373
374 #endregion 374 #endregion
375 375
376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] 376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
377 public static extern int AllocateODEDataForThread(uint ODEInitFlags); 377 public static extern int AllocateODEDataForThread(uint ODEInitFlags);
378 378
379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] 379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
380 public static extern bool AreConnected(IntPtr b1, IntPtr b2); 380 public static extern bool AreConnected(IntPtr b1, IntPtr b2);
381 381
382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] 382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
383 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); 383 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
384 384
385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] 385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
386 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); 386 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
387 387
388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] 388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
389 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 389 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
390 390
391 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] 391 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
392 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 392 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
393 393
394 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] 394 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
395 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); 395 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
396 396
397 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] 397 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
398 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 398 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
399 399
400 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] 400 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
401 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 401 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
402 402
403 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] 403 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
404 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); 404 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
405 405
406 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] 406 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
407 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); 407 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
408 408
409 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] 409 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
410 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); 410 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
411 411
412 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] 412 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
413 public static extern void BodyCopyPosition(IntPtr body, out dReal X); 413 public static extern void BodyCopyPosition(IntPtr body, out dReal X);
414 414
415 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] 415 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
416 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); 416 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
417 417
418 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] 418 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
419 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); 419 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
420 420
421 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] 421 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
422 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); 422 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
423 423
424 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] 424 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
425 public static extern void BodyCopyRotation(IntPtr body, out dReal M00); 425 public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
426 426
427 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] 427 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
428 public static extern IntPtr BodyiCreate(IntPtr world); 428 public static extern IntPtr BodyiCreate(IntPtr world);
429 public static IntPtr BodyCreate(IntPtr world) 429 public static IntPtr BodyCreate(IntPtr world)
430 { 430 {
431 NTotalBodies++; 431 NTotalBodies++;
432 return BodyiCreate(world); 432 return BodyiCreate(world);
433 } 433 }
434 434
435 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] 435 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
436 public static extern void BodyiDestroy(IntPtr body); 436 public static extern void BodyiDestroy(IntPtr body);
437 public static void BodyDestroy(IntPtr body) 437 public static void BodyDestroy(IntPtr body)
438 { 438 {
@@ -440,114 +440,114 @@ namespace OdeAPI
440 BodyiDestroy(body); 440 BodyiDestroy(body);
441 } 441 }
442 442
443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] 443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
444 public static extern void BodyDisable(IntPtr body); 444 public static extern void BodyDisable(IntPtr body);
445 445
446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] 446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
447 public static extern void BodyEnable(IntPtr body); 447 public static extern void BodyEnable(IntPtr body);
448 448
449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
450 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); 450 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
451 451
452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
453 public static extern bool BodyGetAutoDisableFlag(IntPtr body); 453 public static extern bool BodyGetAutoDisableFlag(IntPtr body);
454 454
455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] 455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
456 public static extern void BodyGetAutoDisableDefaults(IntPtr body); 456 public static extern void BodyGetAutoDisableDefaults(IntPtr body);
457 457
458 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 458 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
459 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); 459 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
460 460
461 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 461 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
462 public static extern int BodyGetAutoDisableSteps(IntPtr body); 462 public static extern int BodyGetAutoDisableSteps(IntPtr body);
463 463
464 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 464 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
465 public static extern dReal BodyGetAutoDisableTime(IntPtr body); 465 public static extern dReal BodyGetAutoDisableTime(IntPtr body);
466 466
467 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] 467 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
468 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); 468 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
469 public static Vector3 BodyGetAngularVel(IntPtr body) 469 public static Vector3 BodyGetAngularVel(IntPtr body)
470 { 470 {
471 unsafe { return *(BodyGetAngularVelUnsafe(body)); } 471 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
472 } 472 }
473 473
474 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] 474 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
475 public static extern IntPtr BodyGetData(IntPtr body); 475 public static extern IntPtr BodyGetData(IntPtr body);
476 476
477 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] 477 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
478 public static extern int BodyGetFiniteRotationMode(IntPtr body); 478 public static extern int BodyGetFiniteRotationMode(IntPtr body);
479 479
480 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] 480 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
481 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); 481 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
482 482
483 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] 483 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
484 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); 484 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
485 public static Vector3 BodyGetForce(IntPtr body) 485 public static Vector3 BodyGetForce(IntPtr body)
486 { 486 {
487 unsafe { return *(BodyGetForceUnsafe(body)); } 487 unsafe { return *(BodyGetForceUnsafe(body)); }
488 } 488 }
489 489
490 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] 490 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
491 public static extern bool BodyGetGravityMode(IntPtr body); 491 public static extern bool BodyGetGravityMode(IntPtr body);
492 492
493 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] 493 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
494 public static extern int BodyGetGyroscopicMode(IntPtr body); 494 public static extern int BodyGetGyroscopicMode(IntPtr body);
495 495
496 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] 496 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
497 public static extern IntPtr BodyGetJoint(IntPtr body, int index); 497 public static extern IntPtr BodyGetJoint(IntPtr body, int index);
498 498
499 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] 499 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
500 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); 500 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
501 public static Vector3 BodyGetLinearVel(IntPtr body) 501 public static Vector3 BodyGetLinearVel(IntPtr body)
502 { 502 {
503 unsafe { return *(BodyGetLinearVelUnsafe(body)); } 503 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
504 } 504 }
505 505
506 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] 506 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
507 public static extern void BodyGetMass(IntPtr body, out Mass mass); 507 public static extern void BodyGetMass(IntPtr body, out Mass mass);
508 508
509 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] 509 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
510 public static extern int BodyGetNumJoints(IntPtr body); 510 public static extern int BodyGetNumJoints(IntPtr body);
511 511
512 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] 512 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
513 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 513 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
514 514
515 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] 515 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
516 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); 516 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
517 public static Vector3 BodyGetPosition(IntPtr body) 517 public static Vector3 BodyGetPosition(IntPtr body)
518 { 518 {
519 unsafe { return *(BodyGetPositionUnsafe(body)); } 519 unsafe { return *(BodyGetPositionUnsafe(body)); }
520 } 520 }
521 521
522 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] 522 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
523 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 523 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
524 524
525 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] 525 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
526 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); 526 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
527 public static Quaternion BodyGetQuaternion(IntPtr body) 527 public static Quaternion BodyGetQuaternion(IntPtr body)
528 { 528 {
529 unsafe { return *(BodyGetQuaternionUnsafe(body)); } 529 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
530 } 530 }
531 531
532 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] 532 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
533 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 533 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
534 534
535 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] 535 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
536 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 536 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
537 537
538 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] 538 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
539 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); 539 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
540 public static Matrix3 BodyGetRotation(IntPtr body) 540 public static Matrix3 BodyGetRotation(IntPtr body)
541 { 541 {
542 unsafe { return *(BodyGetRotationUnsafe(body)); } 542 unsafe { return *(BodyGetRotationUnsafe(body)); }
543 } 543 }
544 544
545 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] 545 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
546 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); 546 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
547 public static Vector3 BodyGetTorque(IntPtr body) 547 public static Vector3 BodyGetTorque(IntPtr body)
548 { 548 {
549 unsafe { return *(BodyGetTorqueUnsafe(body)); } 549 unsafe { return *(BodyGetTorqueUnsafe(body)); }
550 } 550 }
551 551
552 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] 552 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
553 public static extern IntPtr BodyGetWorld(IntPtr body); 553 public static extern IntPtr BodyGetWorld(IntPtr body);
@@ -559,38 +559,38 @@ namespace OdeAPI
559 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom); 559 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
560 560
561 561
562 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] 562 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
563 public static extern bool BodyIsEnabled(IntPtr body); 563 public static extern bool BodyIsEnabled(IntPtr body);
564 564
565 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] 565 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
566 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); 566 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
567 567
568 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 568 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
569 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); 569 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
570 570
571 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] 571 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
572 public static extern void BodySetAutoDisableDefaults(IntPtr body); 572 public static extern void BodySetAutoDisableDefaults(IntPtr body);
573 573
574 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 574 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
575 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); 575 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
576 576
577 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 577 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
578 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); 578 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
579 579
580 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 580 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
581 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); 581 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
582 582
583 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 583 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
584 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); 584 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
585 585
586 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] 586 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
587 public static extern void BodySetData(IntPtr body, IntPtr data); 587 public static extern void BodySetData(IntPtr body, IntPtr data);
588 588
589 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] 589 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
590 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); 590 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
591 591
592 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] 592 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
593 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); 593 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
594 594
595 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] 595 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
596 public static extern void BodySetLinearDamping(IntPtr body, dReal scale); 596 public static extern void BodySetLinearDamping(IntPtr body, dReal scale);
@@ -619,11 +619,11 @@ namespace OdeAPI
619 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] 619 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
620 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); 620 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
621 621
622 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] 622 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
623 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); 623 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
624 624
625 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] 625 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
626 public static extern void BodySetGravityMode(IntPtr body, bool mode); 626 public static extern void BodySetGravityMode(IntPtr body, bool mode);
627 627
628 /// <summary> 628 /// <summary>
629 /// Sets the Gyroscopic term status on the body specified. 629 /// Sets the Gyroscopic term status on the body specified.
@@ -633,76 +633,76 @@ namespace OdeAPI
633 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] 633 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
634 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); 634 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
635 635
636 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] 636 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
637 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); 637 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
638 638
639 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] 639 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
640 public static extern void BodySetMass(IntPtr body, ref Mass mass); 640 public static extern void BodySetMass(IntPtr body, ref Mass mass);
641 641
642 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] 642 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
643 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); 643 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
644 644
645 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] 645 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
646 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); 646 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
647 647
648 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] 648 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
649 public static extern void BodySetQuaternion(IntPtr body, ref dReal w); 649 public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
650 650
651 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] 651 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
652 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); 652 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
653 653
654 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] 654 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
655 public static extern void BodySetRotation(IntPtr body, ref dReal M00); 655 public static extern void BodySetRotation(IntPtr body, ref dReal M00);
656 656
657 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] 657 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
658 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); 658 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
659 659
660 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] 660 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
661 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 661 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
662 662
663 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] 663 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
664 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 664 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
665 665
666 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] 666 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
667 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, 667 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
668 ref Vector3 side1, ref Vector3 p2, 668 ref Vector3 side1, ref Vector3 p2,
669 ref Matrix3 R2, ref Vector3 side2, 669 ref Matrix3 R2, ref Vector3 side2,
670 ref Vector3 normal, out dReal depth, out int return_code, 670 ref Vector3 normal, out dReal depth, out int return_code,
671 int maxc, out ContactGeom contact, int skip); 671 int maxc, out ContactGeom contact, int skip);
672 672
673 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] 673 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
674 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, 674 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
675 ref Vector3 side1, ref Vector3 _p2, 675 ref Vector3 side1, ref Vector3 _p2,
676 ref Matrix3 R2, ref Vector3 side2); 676 ref Matrix3 R2, ref Vector3 side2);
677 677
678 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] 678 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
679 public static extern void CleanupODEAllDataForThread(); 679 public static extern void CleanupODEAllDataForThread();
680 680
681 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] 681 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
682 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, 682 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
683 ref Vector3 b1, ref Vector3 b2, 683 ref Vector3 b1, ref Vector3 b2,
684 ref Vector3 cp1, ref Vector3 cp2); 684 ref Vector3 cp1, ref Vector3 cp2);
685 685
686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] 686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
687 public static extern void CloseODE(); 687 public static extern void CloseODE();
688 688
689 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] 689 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
690 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); 690 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
691 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] 691 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
692 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip); 692 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
693 693
694 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] 694 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
695 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); 695 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
696 696
697 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] 697 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
698 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz); 698 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
699 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz) 699 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
700 { 700 {
701 NTotalGeoms++; 701 NTotalGeoms++;
702 return CreateiBox(space, lx, ly, lz); 702 return CreateiBox(space, lx, ly, lz);
703 } 703 }
704 704
705 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] 705 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
706 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length); 706 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
707 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length) 707 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
708 { 708 {
@@ -710,23 +710,23 @@ namespace OdeAPI
710 return CreateiCapsule(space, radius, length); 710 return CreateiCapsule(space, radius, length);
711 } 711 }
712 712
713 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] 713 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
714 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); 714 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
715 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons) 715 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
716 { 716 {
717 NTotalGeoms++; 717 NTotalGeoms++;
718 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons); 718 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
719 } 719 }
720 720
721 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] 721 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
722 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length); 722 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
723 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length) 723 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
724 { 724 {
725 NTotalGeoms++; 725 NTotalGeoms++;
726 return CreateiCylinder(space, radius, length); 726 return CreateiCylinder(space, radius, length);
727 } 727 }
728 728
729 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] 729 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
730 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable); 730 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
731 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable) 731 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
732 { 732 {
@@ -744,23 +744,23 @@ namespace OdeAPI
744 744
745 745
746 746
747
748 747
749 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] 748
750 public static extern IntPtr CreateiGeom(int classnum); 749 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
750 public static extern IntPtr CreateiGeom(int classnum);
751 public static IntPtr CreateGeom(int classnum) 751 public static IntPtr CreateGeom(int classnum)
752 { 752 {
753 NTotalGeoms++; 753 NTotalGeoms++;
754 return CreateiGeom(classnum); 754 return CreateiGeom(classnum);
755 } 755 }
756 756
757 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] 757 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
758 public static extern int CreateGeomClass(ref GeomClass classptr); 758 public static extern int CreateGeomClass(ref GeomClass classptr);
759 759
760 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] 760 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
761 public static extern IntPtr CreateGeomTransform(IntPtr space); 761 public static extern IntPtr CreateGeomTransform(IntPtr space);
762 762
763 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] 763 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
764 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); 764 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
765 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d) 765 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
766 { 766 {
@@ -768,25 +768,25 @@ namespace OdeAPI
768 return CreateiPlane(space, a, b, c, d); 768 return CreateiPlane(space, a, b, c, d);
769 } 769 }
770 770
771 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] 771 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
772 public static extern IntPtr CreateiRay(IntPtr space, dReal length); 772 public static extern IntPtr CreateiRay(IntPtr space, dReal length);
773 public static IntPtr CreateRay(IntPtr space, dReal length) 773 public static IntPtr CreateRay(IntPtr space, dReal length)
774 { 774 {
775 NTotalGeoms++; 775 NTotalGeoms++;
776 return CreateiRay(space, length); 776 return CreateiRay(space, length);
777 } 777 }
778 778
779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] 779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
780 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius); 780 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
781 public static IntPtr CreateSphere(IntPtr space, dReal radius) 781 public static IntPtr CreateSphere(IntPtr space, dReal radius)
782 { 782 {
783 NTotalGeoms++; 783 NTotalGeoms++;
784 return CreateiSphere(space, radius); 784 return CreateiSphere(space, radius);
785 } 785 }
786 786
787 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] 787 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
788 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, 788 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
789 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); 789 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
790 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data, 790 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
791 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback) 791 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
792 { 792 {
@@ -794,79 +794,79 @@ namespace OdeAPI
794 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback); 794 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
795 } 795 }
796 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] 796 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
797 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); 797 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
798 798
799 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] 799 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
800 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); 800 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
801 801
802 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] 802 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
803 public static extern int FactorCholesky(ref dReal A00, int n); 803 public static extern int FactorCholesky(ref dReal A00, int n);
804 804
805 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] 805 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
806 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); 806 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
807 807
808 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] 808 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
809 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); 809 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
810 810
811 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] 811 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
812 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); 812 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
813 813
814 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] 814 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
815 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); 815 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
816 816
817 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] 817 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
818 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); 818 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
819 819
820 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] 820 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
821 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); 821 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
822 822
823 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] 823 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
824 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); 824 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
825 825
826 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] 826 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
827 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); 827 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
828 828
829 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] 829 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
830 public static extern void GeomClearOffset(IntPtr geom); 830 public static extern void GeomClearOffset(IntPtr geom);
831 831
832 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] 832 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
833 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); 833 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
834 834
835 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] 835 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
836 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); 836 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
837 837
838 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] 838 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
839 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); 839 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
840 840
841 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] 841 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
842 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); 842 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
843 843
844 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] 844 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
845 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); 845 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
846 846
847 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] 847 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
848 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); 848 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
849 849
850 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] 850 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
851 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); 851 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
852 852
853 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] 853 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
854 public static extern void GeomCopyPosition(IntPtr geom, out dReal X); 854 public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
855 855
856 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] 856 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
857 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); 857 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
858 858
859 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] 859 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
860 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); 860 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
861 861
862 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] 862 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
863 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); 863 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
864 864
865 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] 865 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
866 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); 866 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
867 867
868 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] 868 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
869 public static extern void GeomiDestroy(IntPtr geom); 869 public static extern void GeomiDestroy(IntPtr geom);
870 public static void GeomDestroy(IntPtr geom) 870 public static void GeomDestroy(IntPtr geom)
871 { 871 {
872 NTotalGeoms--; 872 NTotalGeoms--;
@@ -874,63 +874,63 @@ namespace OdeAPI
874 } 874 }
875 875
876 876
877 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] 877 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
878 public static extern void GeomDisable(IntPtr geom); 878 public static extern void GeomDisable(IntPtr geom);
879 879
880 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] 880 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
881 public static extern void GeomEnable(IntPtr geom); 881 public static extern void GeomEnable(IntPtr geom);
882 882
883 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] 883 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
884 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); 884 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
885 885
886 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] 886 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
887 public static extern void GeomGetAABB(IntPtr geom, out dReal minX); 887 public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
888 888
889 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] 889 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
890 public static extern IntPtr GeomGetBody(IntPtr geom); 890 public static extern IntPtr GeomGetBody(IntPtr geom);
891 891
892 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] 892 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
893 public static extern uint GeomGetCategoryBits(IntPtr geom); 893 public static extern uint GeomGetCategoryBits(IntPtr geom);
894 894
895 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] 895 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
896 public static extern IntPtr GeomGetClassData(IntPtr geom); 896 public static extern IntPtr GeomGetClassData(IntPtr geom);
897 897
898 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] 898 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
899 public static extern uint GeomGetCollideBits(IntPtr geom); 899 public static extern uint GeomGetCollideBits(IntPtr geom);
900 900
901 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] 901 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
902 public static extern GeomClassID GeomGetClass(IntPtr geom); 902 public static extern GeomClassID GeomGetClass(IntPtr geom);
903 903
904 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] 904 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
905 public static extern IntPtr GeomGetData(IntPtr geom); 905 public static extern IntPtr GeomGetData(IntPtr geom);
906 906
907 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] 907 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
908 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); 908 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
909 public static Vector3 GeomGetOffsetPosition(IntPtr geom) 909 public static Vector3 GeomGetOffsetPosition(IntPtr geom)
910 { 910 {
911 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } 911 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
912 } 912 }
913 913
914 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] 914 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
915 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); 915 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
916 public static Matrix3 GeomGetOffsetRotation(IntPtr geom) 916 public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
917 { 917 {
918 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } 918 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
919 } 919 }
920 920
921 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] 921 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
922 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); 922 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
923 public static Vector3 GeomGetPosition(IntPtr geom) 923 public static Vector3 GeomGetPosition(IntPtr geom)
924 { 924 {
925 unsafe { return *(GeomGetPositionUnsafe(geom)); } 925 unsafe { return *(GeomGetPositionUnsafe(geom)); }
926 } 926 }
927 public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom) 927 public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom)
928 { 928 {
929 Vector3 vtmp = GeomGetPosition(geom); 929 Vector3 vtmp = GeomGetPosition(geom);
930 return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z); 930 return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z);
931 } 931 }
932 932
933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] 933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
934 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); 934 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
935 public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom) 935 public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom)
936 { 936 {
@@ -939,85 +939,85 @@ namespace OdeAPI
939 return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W); 939 return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W);
940 } 940 }
941 941
942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] 942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
943 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); 943 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
944 944
945 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] 945 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
946 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); 946 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
947 public static Matrix3 GeomGetRotation(IntPtr geom) 947 public static Matrix3 GeomGetRotation(IntPtr geom)
948 { 948 {
949 unsafe { return *(GeomGetRotationUnsafe(geom)); } 949 unsafe { return *(GeomGetRotationUnsafe(geom)); }
950 } 950 }
951 951
952 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] 952 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
953 public static extern IntPtr GeomGetSpace(IntPtr geom); 953 public static extern IntPtr GeomGetSpace(IntPtr geom);
954 954
955 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] 955 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
956 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, 956 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
957 dReal width, dReal depth, int widthSamples, int depthSamples, 957 dReal width, dReal depth, int widthSamples, int depthSamples,
958 dReal scale, dReal offset, dReal thickness, int bWrap); 958 dReal scale, dReal offset, dReal thickness, int bWrap);
959 959
960 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] 960 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
961 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 961 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
962 dReal width, dReal depth, int widthSamples, int depthSamples, 962 dReal width, dReal depth, int widthSamples, int depthSamples,
963 dReal scale, dReal offset, dReal thickness, int bWrap); 963 dReal scale, dReal offset, dReal thickness, int bWrap);
964 964
965 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] 965 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
966 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, 966 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
967 dReal width, dReal depth, int widthSamples, int depthSamples, 967 dReal width, dReal depth, int widthSamples, int depthSamples,
968 dReal scale, dReal offset, dReal thickness, int bWrap); 968 dReal scale, dReal offset, dReal thickness, int bWrap);
969 969
970 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] 970 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
971 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, 971 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
972 dReal width, dReal depth, int widthSamples, int depthSamples, 972 dReal width, dReal depth, int widthSamples, int depthSamples,
973 dReal scale, dReal offset, dReal thickness, int bWrap); 973 dReal scale, dReal offset, dReal thickness, int bWrap);
974 974
975 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] 975 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
976 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, 976 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
977 dReal width, dReal depth, int widthSamples, int depthSamples, 977 dReal width, dReal depth, int widthSamples, int depthSamples,
978 dReal scale, dReal offset, dReal thickness, int bWrap); 978 dReal scale, dReal offset, dReal thickness, int bWrap);
979 979
980 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] 980 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
981 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 981 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
982 dReal width, dReal depth, int widthSamples, int depthSamples, 982 dReal width, dReal depth, int widthSamples, int depthSamples,
983 dReal scale, dReal offset, dReal thickness, int bWrap); 983 dReal scale, dReal offset, dReal thickness, int bWrap);
984 984
985 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] 985 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
986 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, 986 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
987 dReal width, dReal depth, int widthSamples, int depthSamples, 987 dReal width, dReal depth, int widthSamples, int depthSamples,
988 dReal scale, dReal offset, dReal thickness, int bWrap); 988 dReal scale, dReal offset, dReal thickness, int bWrap);
989 989
990 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] 990 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
991 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 991 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
992 dReal width, dReal depth, int widthSamples, int depthSamples, 992 dReal width, dReal depth, int widthSamples, int depthSamples,
993 dReal scale, dReal offset, dReal thickness, int bWrap); 993 dReal scale, dReal offset, dReal thickness, int bWrap);
994 994
995 995
996 996
997 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] 997 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
998 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, 998 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
999 dReal width, dReal depth, int widthSamples, int depthSamples, 999 dReal width, dReal depth, int widthSamples, int depthSamples,
1000 dReal scale, dReal offset, dReal thickness, int bWrap); 1000 dReal scale, dReal offset, dReal thickness, int bWrap);
1001 1001
1002 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] 1002 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1003 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 1003 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
1004 dReal width, dReal depth, int widthSamples, int depthSamples, 1004 dReal width, dReal depth, int widthSamples, int depthSamples,
1005 dReal scale, dReal offset, dReal thickness, int bWrap); 1005 dReal scale, dReal offset, dReal thickness, int bWrap);
1006 1006
1007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] 1007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
1008 public static extern IntPtr GeomHeightfieldDataCreate(); 1008 public static extern IntPtr GeomHeightfieldDataCreate();
1009 1009
1010 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] 1010 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
1011 public static extern void GeomHeightfieldDataDestroy(IntPtr d); 1011 public static extern void GeomHeightfieldDataDestroy(IntPtr d);
1012 1012
1013 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] 1013 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
1014 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); 1014 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1015 1015
1016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] 1016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1017 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); 1017 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
1018 1018
1019 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] 1019 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1020 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); 1020 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
1021 1021
1022 1022
1023 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity] 1023 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
@@ -1046,279 +1046,279 @@ namespace OdeAPI
1046 public static extern void GeomOSTerrainSetHeightfieldData(IntPtr g, IntPtr d); 1046 public static extern void GeomOSTerrainSetHeightfieldData(IntPtr g, IntPtr d);
1047 1047
1048 1048
1049 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] 1049 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
1050 public static extern bool GeomIsEnabled(IntPtr geom); 1050 public static extern bool GeomIsEnabled(IntPtr geom);
1051 1051
1052 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] 1052 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
1053 public static extern bool GeomIsOffset(IntPtr geom); 1053 public static extern bool GeomIsOffset(IntPtr geom);
1054 1054
1055 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] 1055 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
1056 public static extern bool GeomIsSpace(IntPtr geom); 1056 public static extern bool GeomIsSpace(IntPtr geom);
1057 1057
1058 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] 1058 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1059 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); 1059 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
1060 1060
1061 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] 1061 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1062 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); 1062 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
1063 1063
1064 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] 1064 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
1065 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); 1065 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1066 1066
1067 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] 1067 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
1068 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); 1068 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
1069 1069
1070 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] 1070 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1071 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); 1071 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
1072 1072
1073 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] 1073 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1074 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); 1074 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
1075 1075
1076 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] 1076 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
1077 public static extern int GeomRayGetClosestHit(IntPtr ray); 1077 public static extern int GeomRayGetClosestHit(IntPtr ray);
1078 1078
1079 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] 1079 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
1080 public static extern dReal GeomRayGetLength(IntPtr ray); 1080 public static extern dReal GeomRayGetLength(IntPtr ray);
1081 1081
1082 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] 1082 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
1083 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); 1083 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
1084 1084
1085 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] 1085 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
1086 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); 1086 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
1087 1087
1088 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] 1088 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
1089 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); 1089 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
1090 1090
1091 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] 1091 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
1092 public static extern void GeomRaySetLength(IntPtr ray, dReal length); 1092 public static extern void GeomRaySetLength(IntPtr ray, dReal length);
1093 1093
1094 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] 1094 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
1095 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); 1095 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
1096 1096
1097 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] 1097 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
1098 public static extern void GeomSetBody(IntPtr geom, IntPtr body); 1098 public static extern void GeomSetBody(IntPtr geom, IntPtr body);
1099 1099
1100 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] 1100 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
1101 public static extern void GeomSetCategoryBits(IntPtr geom, uint bits); 1101 public static extern void GeomSetCategoryBits(IntPtr geom, uint bits);
1102 1102
1103 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] 1103 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
1104 public static extern void GeomSetCollideBits(IntPtr geom, uint bits); 1104 public static extern void GeomSetCollideBits(IntPtr geom, uint bits);
1105 1105
1106 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] 1106 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
1107 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); 1107 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
1108 1108
1109 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] 1109 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
1110 public static extern void GeomSetData(IntPtr geom, IntPtr data); 1110 public static extern void GeomSetData(IntPtr geom, IntPtr data);
1111 1111
1112 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] 1112 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
1113 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); 1113 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1114
1115 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1116 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1117
1118 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1119 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1120
1121 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1122 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1123
1124 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1125 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1126 1114
1127 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] 1115 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1128 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); 1116 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1129 1117
1130 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] 1118 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1131 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); 1119 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1132 1120
1133 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] 1121 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1134 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); 1122 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1135 1123
1136 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] 1124 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1137 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); 1125 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1138 1126
1139 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] 1127 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
1140 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); 1128 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
1141 1129
1142 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] 1130 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1143 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); 1131 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
1144 1132
1145 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] 1133 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1146 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); 1134 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
1147 1135
1148 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] 1136 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1149 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); 1137 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
1150 1138
1151 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] 1139 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1152 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); 1140 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
1153 1141
1154 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] 1142 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
1155 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); 1143 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1156 1144
1157 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] 1145 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1158 public static extern dReal GeomSphereGetRadius(IntPtr geom); 1146 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
1159 1147
1160 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] 1148 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1161 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); 1149 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
1162 1150
1163 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] 1151 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1164 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); 1152 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
1165 1153
1166 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] 1154 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1167 public static extern int GeomTransformGetCleanup(IntPtr geom); 1155 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
1168 1156
1169 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] 1157 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
1170 public static extern IntPtr GeomTransformGetGeom(IntPtr geom); 1158 public static extern dReal GeomSphereGetRadius(IntPtr geom);
1171 1159
1172 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] 1160 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
1173 public static extern int GeomTransformGetInfo(IntPtr geom); 1161 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1174 1162
1175 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] 1163 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
1176 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); 1164 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
1177 1165
1178 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] 1166 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
1179 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); 1167 public static extern int GeomTransformGetCleanup(IntPtr geom);
1180 1168
1181 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] 1169 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
1182 public static extern void GeomTransformSetInfo(IntPtr geom, int info); 1170 public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
1183 1171
1184 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] 1172 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
1185 public static extern void GeomTriMeshDataBuildDouble(IntPtr d, 1173 public static extern int GeomTransformGetInfo(IntPtr geom);
1186 double[] vertices, int vertexStride, int vertexCount,
1187 int[] indices, int indexCount, int triStride);
1188 1174
1189 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] 1175 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
1190 public static extern void GeomTriMeshDataBuildDouble(IntPtr d, 1176 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
1191 IntPtr vertices, int vertexStride, int vertexCount,
1192 IntPtr indices, int indexCount, int triStride);
1193 1177
1194 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] 1178 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
1195 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, 1179 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
1196 double[] vertices, int vertexStride, int vertexCount,
1197 int[] indices, int indexCount, int triStride,
1198 double[] normals);
1199 1180
1200 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] 1181 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
1201 public static extern void GeomTriMeshDataBuildDouble(IntPtr d, 1182 public static extern void GeomTransformSetInfo(IntPtr geom, int info);
1202 IntPtr vertices, int vertexStride, int vertexCount,
1203 IntPtr indices, int indexCount, int triStride,
1204 IntPtr normals);
1205 1183
1206 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] 1184 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1207 public static extern void GeomTriMeshDataBuildSingle(IntPtr d, 1185 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1208 dReal[] vertices, int vertexStride, int vertexCount, 1186 double[] vertices, int vertexStride, int vertexCount,
1209 int[] indices, int indexCount, int triStride); 1187 int[] indices, int indexCount, int triStride);
1210 1188
1211 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] 1189 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1212 public static extern void GeomTriMeshDataBuildSingle(IntPtr d, 1190 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1213 IntPtr vertices, int vertexStride, int vertexCount, 1191 IntPtr vertices, int vertexStride, int vertexCount,
1214 IntPtr indices, int indexCount, int triStride); 1192 IntPtr indices, int indexCount, int triStride);
1215 1193
1216 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] 1194 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1217 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, 1195 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
1218 dReal[] vertices, int vertexStride, int vertexCount, 1196 double[] vertices, int vertexStride, int vertexCount,
1219 int[] indices, int indexCount, int triStride, 1197 int[] indices, int indexCount, int triStride,
1220 dReal[] normals); 1198 double[] normals);
1221 1199
1222 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] 1200 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1223 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, 1201 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1224 IntPtr vertices, int vertexStride, int vertexCount, 1202 IntPtr vertices, int vertexStride, int vertexCount,
1225 IntPtr indices, int indexCount, int triStride, 1203 IntPtr indices, int indexCount, int triStride,
1226 IntPtr normals); 1204 IntPtr normals);
1227 1205
1228 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] 1206 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1229 public static extern void GeomTriMeshDataBuildSimple(IntPtr d, 1207 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1230 float[] vertices, int vertexStride, int vertexCount, 1208 dReal[] vertices, int vertexStride, int vertexCount,
1231 int[] indices, int indexCount, int triStride); 1209 int[] indices, int indexCount, int triStride);
1232 1210
1233 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] 1211 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1234 public static extern void GeomTriMeshDataBuildSimple(IntPtr d, 1212 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1235 IntPtr vertices, int vertexStride, int vertexCount, 1213 IntPtr vertices, int vertexStride, int vertexCount,
1236 IntPtr indices, int indexCount, int triStride); 1214 IntPtr indices, int indexCount, int triStride);
1237 1215
1238 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] 1216 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1239 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, 1217 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1240 float[] vertices, int vertexStride, int vertexCount, 1218 dReal[] vertices, int vertexStride, int vertexCount,
1241 int[] indices, int indexCount, int triStride, 1219 int[] indices, int indexCount, int triStride,
1242 float[] normals); 1220 dReal[] normals);
1243 1221
1244 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] 1222 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1245 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, 1223 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1246 IntPtr vertices, int vertexStride, int vertexCount, 1224 IntPtr vertices, int vertexStride, int vertexCount,
1247 IntPtr indices, int indexCount, int triStride, 1225 IntPtr indices, int indexCount, int triStride,
1248 IntPtr normals); 1226 IntPtr normals);
1249 1227
1250 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] 1228 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1251 public static extern void GeomTriMeshClearTCCache(IntPtr g); 1229 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1230 float[] vertices, int vertexStride, int vertexCount,
1231 int[] indices, int indexCount, int triStride);
1252 1232
1253 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] 1233 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1254 public static extern IntPtr GeomTriMeshDataCreate(); 1234 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1235 IntPtr vertices, int vertexStride, int vertexCount,
1236 IntPtr indices, int indexCount, int triStride);
1255 1237
1256 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] 1238 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1257 public static extern void GeomTriMeshDataDestroy(IntPtr d); 1239 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1240 float[] vertices, int vertexStride, int vertexCount,
1241 int[] indices, int indexCount, int triStride,
1242 float[] normals);
1258 1243
1259 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] 1244 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1260 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); 1245 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1246 IntPtr vertices, int vertexStride, int vertexCount,
1247 IntPtr indices, int indexCount, int triStride,
1248 IntPtr normals);
1261 1249
1262 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] 1250 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1263 public static extern void GeomTriMeshDataPreprocess(IntPtr d); 1251 public static extern void GeomTriMeshClearTCCache(IntPtr g);
1264 1252
1265 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] 1253 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1266 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); 1254 public static extern IntPtr GeomTriMeshDataCreate();
1267 1255
1268 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] 1256 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1269 public static extern void GeomTriMeshDataUpdate(IntPtr d); 1257 public static extern void GeomTriMeshDataDestroy(IntPtr d);
1270 1258
1271 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] 1259 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1272 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); 1260 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1273 1261
1274 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] 1262 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1275 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); 1263 public static extern void GeomTriMeshDataPreprocess(IntPtr d);
1276 1264
1277 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] 1265 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1278 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); 1266 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1279 1267
1280 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] 1268 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1281 public static extern IntPtr GeomTriMeshGetData(IntPtr g); 1269 public static extern void GeomTriMeshDataUpdate(IntPtr d);
1282 1270
1283 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] 1271 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1284 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); 1272 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1285 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) 1273
1286 { 1274 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1287 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } 1275 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1288 } 1276
1277 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1278 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1279
1280 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1281 public static extern IntPtr GeomTriMeshGetData(IntPtr g);
1282
1283 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1284 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1285 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1286 {
1287 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1288 }
1289 1289
1290 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] 1290 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1291 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); 1291 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1292 1292
1293 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] 1293 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1294 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); 1294 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1295 1295
1296 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] 1296 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1297 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); 1297 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1298 1298
1299 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] 1299 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1300 public extern static int GeomTriMeshGetTriangleCount(IntPtr g); 1300 public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1301 1301
1302 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] 1302 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1303 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); 1303 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1304 1304
1305 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] 1305 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1306 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); 1306 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1307 1307
1308 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] 1308 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1309 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); 1309 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1310 1310
1311 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] 1311 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1312 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); 1312 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1313 1313
1314 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] 1314 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1315 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); 1315 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1316 1316
1317 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] 1317 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1318 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); 1318 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1319 1319
1320 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] 1320 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1321 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); 1321 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1322 1322
1323 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] 1323 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1324 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); 1324 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
@@ -1333,416 +1333,416 @@ namespace OdeAPI
1333 return s; 1333 return s;
1334 } 1334 }
1335 1335
1336 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] 1336 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1337 public static extern IntPtr HashSpaceCreate(IntPtr space); 1337 public static extern IntPtr HashSpaceCreate(IntPtr space);
1338 1338
1339 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] 1339 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1340 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); 1340 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1341 1341
1342 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] 1342 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1343 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); 1343 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1344 1344
1345 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] 1345 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1346 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); 1346 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1347 1347
1348 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] 1348 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1349 public static extern void InitODE(); 1349 public static extern void InitODE();
1350 1350
1351 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] 1351 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
1352 public static extern int InitODE2(uint ODEInitFlags); 1352 public static extern int InitODE2(uint ODEInitFlags);
1353 1353
1354 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] 1354 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1355 public static extern int IsPositiveDefinite(ref dReal A, int n); 1355 public static extern int IsPositiveDefinite(ref dReal A, int n);
1356 1356
1357 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] 1357 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1358 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); 1358 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1359 1359
1360 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] 1360 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1361 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); 1361 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1362 1362
1363 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] 1363 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1364 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); 1364 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1365 1365
1366 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] 1366 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1367 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); 1367 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1368 1368
1369 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] 1369 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1370 public static extern void JointAddPRTorque(IntPtr joint, dReal torque); 1370 public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1371 1371
1372 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] 1372 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1373 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); 1373 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1374 1374
1375 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] 1375 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1376 public static extern void JointAddSliderForce(IntPtr joint, dReal force); 1376 public static extern void JointAddSliderForce(IntPtr joint, dReal force);
1377 1377
1378 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] 1378 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1379 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); 1379 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1380 1380
1381 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] 1381 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1382 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); 1382 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1383 1383
1384 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] 1384 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1385 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); 1385 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1386 1386
1387 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] 1387 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1388 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); 1388 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1389 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] 1389 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1390 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact); 1390 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
1391 1391
1392 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] 1392 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1393 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); 1393 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1394 1394
1395 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] 1395 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1396 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); 1396 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1397 1397
1398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] 1398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1399 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); 1399 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1400 1400
1401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] 1401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1402 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); 1402 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1403 1403
1404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] 1404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1405 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); 1405 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1406 1406
1407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] 1407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1408 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); 1408 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1409 1409
1410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] 1410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1411 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); 1411 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1412 1412
1413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] 1413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1414 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); 1414 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1415 1415
1416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] 1416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1417 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); 1417 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1418 1418
1419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] 1419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1420 public static extern void JointDestroy(IntPtr j); 1420 public static extern void JointDestroy(IntPtr j);
1421 1421
1422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] 1422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1423 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); 1423 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1424 1424
1425 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] 1425 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1426 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); 1426 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1427 1427
1428 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] 1428 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1429 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); 1429 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1430 1430
1431 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] 1431 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1432 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); 1432 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1433 1433
1434 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] 1434 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1435 public static extern int JointGetAMotorMode(IntPtr j); 1435 public static extern int JointGetAMotorMode(IntPtr j);
1436 1436
1437 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1437 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1438 public static extern int JointGetAMotorNumAxes(IntPtr j); 1438 public static extern int JointGetAMotorNumAxes(IntPtr j);
1439 1439
1440 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] 1440 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1441 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); 1441 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1442 1442
1443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] 1443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1444 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); 1444 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1445 1445
1446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] 1446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1447 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); 1447 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1448 1448
1449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] 1449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1450 public static extern IntPtr JointGetBody(IntPtr j); 1450 public static extern IntPtr JointGetBody(IntPtr j);
1451 1451
1452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] 1452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1453 public static extern IntPtr JointGetData(IntPtr j); 1453 public static extern IntPtr JointGetData(IntPtr j);
1454 1454
1455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] 1455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1456 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); 1456 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1457 public static JointFeedback JointGetFeedback(IntPtr j) 1457 public static JointFeedback JointGetFeedback(IntPtr j)
1458 { 1458 {
1459 unsafe { return *(JointGetFeedbackUnsafe(j)); } 1459 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1460 } 1460 }
1461 1461
1462 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] 1462 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1463 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); 1463 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1464 1464
1465 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] 1465 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1466 public static extern dReal JointGetHingeAngle(IntPtr j); 1466 public static extern dReal JointGetHingeAngle(IntPtr j);
1467 1467
1468 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] 1468 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1469 public static extern dReal JointGetHingeAngleRate(IntPtr j); 1469 public static extern dReal JointGetHingeAngleRate(IntPtr j);
1470 1470
1471 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] 1471 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1472 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); 1472 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1473 1473
1474 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] 1474 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1475 public static extern dReal JointGetHingeParam(IntPtr j, int parameter); 1475 public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1476 1476
1477 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] 1477 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1478 public static extern dReal JointGetHinge2Angle1(IntPtr j); 1478 public static extern dReal JointGetHinge2Angle1(IntPtr j);
1479 1479
1480 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] 1480 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1481 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); 1481 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1482 1482
1483 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] 1483 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1484 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); 1484 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1485 1485
1486 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] 1486 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1487 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); 1487 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1488 1488
1489 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] 1489 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1490 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); 1490 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1491 1491
1492 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] 1492 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1493 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); 1493 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1494 1494
1495 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] 1495 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1496 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); 1496 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1497 1497
1498 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] 1498 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1499 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); 1499 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1500 1500
1501 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] 1501 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1502 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); 1502 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1503 1503
1504 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] 1504 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1505 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); 1505 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1506 1506
1507 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1507 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1508 public static extern int JointGetLMotorNumAxes(IntPtr j); 1508 public static extern int JointGetLMotorNumAxes(IntPtr j);
1509 1509
1510 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] 1510 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1511 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); 1511 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1512 1512
1513 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] 1513 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1514 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); 1514 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1515 1515
1516 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] 1516 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1517 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); 1517 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1518 1518
1519 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] 1519 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1520 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); 1520 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1521 1521
1522 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] 1522 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1523 public static extern dReal JointGetPRParam(IntPtr j, int parameter); 1523 public static extern dReal JointGetPRParam(IntPtr j, int parameter);
1524 1524
1525 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] 1525 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1526 public static extern dReal JointGetPRPosition(IntPtr j); 1526 public static extern dReal JointGetPRPosition(IntPtr j);
1527 1527
1528 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] 1528 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1529 public static extern dReal JointGetPRPositionRate(IntPtr j); 1529 public static extern dReal JointGetPRPositionRate(IntPtr j);
1530 1530
1531 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] 1531 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1532 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); 1532 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1533 1533
1534 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] 1534 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1535 public static extern dReal JointGetSliderParam(IntPtr j, int parameter); 1535 public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1536 1536
1537 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] 1537 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1538 public static extern dReal JointGetSliderPosition(IntPtr j); 1538 public static extern dReal JointGetSliderPosition(IntPtr j);
1539 1539
1540 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] 1540 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1541 public static extern dReal JointGetSliderPositionRate(IntPtr j); 1541 public static extern dReal JointGetSliderPositionRate(IntPtr j);
1542 1542
1543 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] 1543 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1544 public static extern JointType JointGetType(IntPtr j); 1544 public static extern JointType JointGetType(IntPtr j);
1545 1545
1546 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] 1546 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1547 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); 1547 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1548 1548
1549 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] 1549 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1550 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); 1550 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1551 1551
1552 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] 1552 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1553 public static extern dReal JointGetUniversalAngle1(IntPtr j); 1553 public static extern dReal JointGetUniversalAngle1(IntPtr j);
1554 1554
1555 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] 1555 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1556 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); 1556 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1557 1557
1558 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] 1558 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1559 public static extern dReal JointGetUniversalAngle2(IntPtr j); 1559 public static extern dReal JointGetUniversalAngle2(IntPtr j);
1560 1560
1561 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] 1561 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1562 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); 1562 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1563 1563
1564 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] 1564 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1565 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); 1565 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1566 1566
1567 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] 1567 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1568 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); 1568 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1569 1569
1570 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] 1570 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1571 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); 1571 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1572 1572
1573 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] 1573 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1574 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); 1574 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1575 1575
1576 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] 1576 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1577 public static extern IntPtr JointGroupCreate(int max_size); 1577 public static extern IntPtr JointGroupCreate(int max_size);
1578 1578
1579 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] 1579 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1580 public static extern void JointGroupDestroy(IntPtr group); 1580 public static extern void JointGroupDestroy(IntPtr group);
1581 1581
1582 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] 1582 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1583 public static extern void JointGroupEmpty(IntPtr group); 1583 public static extern void JointGroupEmpty(IntPtr group);
1584 1584
1585 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] 1585 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1586 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); 1586 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1587 1587
1588 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] 1588 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1589 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); 1589 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1590 1590
1591 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] 1591 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1592 public static extern void JointSetAMotorMode(IntPtr j, int mode); 1592 public static extern void JointSetAMotorMode(IntPtr j, int mode);
1593 1593
1594 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1594 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1595 public static extern void JointSetAMotorNumAxes(IntPtr group, int num); 1595 public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1596 1596
1597 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] 1597 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1598 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); 1598 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1599 1599
1600 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] 1600 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1601 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); 1601 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1602 1602
1603 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] 1603 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1604 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); 1604 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1605 1605
1606 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] 1606 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1607 public static extern void JointSetData(IntPtr j, IntPtr data); 1607 public static extern void JointSetData(IntPtr j, IntPtr data);
1608 1608
1609 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] 1609 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1610 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); 1610 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1611 1611
1612 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] 1612 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1613 public static extern void JointSetFixed(IntPtr j); 1613 public static extern void JointSetFixed(IntPtr j);
1614 1614
1615 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] 1615 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1616 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); 1616 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1617 1617
1618 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] 1618 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1619 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); 1619 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1620 1620
1621 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] 1621 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1622 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); 1622 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1623 1623
1624 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] 1624 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1625 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); 1625 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1626 1626
1627 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] 1627 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1628 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); 1628 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1629 1629
1630 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] 1630 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1631 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); 1631 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1632 1632
1633 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] 1633 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1634 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); 1634 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1635 1635
1636 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] 1636 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1637 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); 1637 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1638 1638
1639 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] 1639 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1640 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); 1640 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1641 1641
1642 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1642 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1643 public static extern void JointSetLMotorNumAxes(IntPtr j, int num); 1643 public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1644 1644
1645 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] 1645 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1646 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); 1646 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1647 1647
1648 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] 1648 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1649 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); 1649 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1650 1650
1651 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] 1651 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1652 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); 1652 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1653 1653
1654 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] 1654 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1655 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); 1655 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1656 1656
1657 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] 1657 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1658 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); 1658 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1659 1659
1660 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] 1660 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1661 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); 1661 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1662 1662
1663 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] 1663 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1664 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); 1664 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1665 1665
1666 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] 1666 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1667 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); 1667 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1668 1668
1669 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] 1669 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1670 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); 1670 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1671 1671
1672 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] 1672 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1673 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); 1673 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1674 1674
1675 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] 1675 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1676 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); 1676 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1677 1677
1678 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] 1678 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1679 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); 1679 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1680 1680
1681 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] 1681 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1682 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); 1682 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1683 1683
1684 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] 1684 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1685 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); 1685 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1686 1686
1687 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] 1687 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1688 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); 1688 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1689 1689
1690 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] 1690 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1691 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); 1691 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1692 1692
1693 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] 1693 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1694 public static extern void MassAdd(ref Mass a, ref Mass b); 1694 public static extern void MassAdd(ref Mass a, ref Mass b);
1695 1695
1696 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] 1696 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1697 public static extern void MassAdjust(ref Mass m, dReal newmass); 1697 public static extern void MassAdjust(ref Mass m, dReal newmass);
1698 1698
1699 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] 1699 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1700 public static extern bool MassCheck(ref Mass m); 1700 public static extern bool MassCheck(ref Mass m);
1701 1701
1702 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] 1702 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1703 public static extern void MassRotate(ref Mass mass, ref Matrix3 R); 1703 public static extern void MassRotate(ref Mass mass, ref Matrix3 R);
1704 1704
1705 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] 1705 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1706 public static extern void MassRotate(ref Mass mass, ref dReal M00); 1706 public static extern void MassRotate(ref Mass mass, ref dReal M00);
1707 1707
1708 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] 1708 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1709 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); 1709 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1710 1710
1711 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] 1711 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1712 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); 1712 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1713 1713
1714 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] 1714 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1715 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); 1715 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1716 1716
1717 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] 1717 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1718 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); 1718 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1719 1719
1720 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] 1720 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1721 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); 1721 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1722 1722
1723 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] 1723 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1724 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); 1724 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1725 1725
1726 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] 1726 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1727 public static extern void MassSetParameters(out Mass mass, dReal themass, 1727 public static extern void MassSetParameters(out Mass mass, dReal themass,
1728 dReal cgx, dReal cgy, dReal cgz, 1728 dReal cgx, dReal cgy, dReal cgz,
1729 dReal i11, dReal i22, dReal i33, 1729 dReal i11, dReal i22, dReal i33,
1730 dReal i12, dReal i13, dReal i23); 1730 dReal i12, dReal i13, dReal i23);
1731 1731
1732 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] 1732 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1733 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); 1733 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1734 1734
1735 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] 1735 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1736 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); 1736 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1737 1737
1738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] 1738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1739 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); 1739 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1740 1740
1741 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] 1741 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1742 public static extern void MassSetZero(out Mass mass); 1742 public static extern void MassSetZero(out Mass mass);
1743 1743
1744 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] 1744 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1745 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); 1745 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
1746 1746
1747 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] 1747 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1748 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); 1748 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
@@ -1754,119 +1754,119 @@ namespace OdeAPI
1754 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1); 1754 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
1755 } 1755 }
1756 1756
1757 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] 1757 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1758 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); 1758 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1759 1759
1760 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] 1760 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1761 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); 1761 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1762 1762
1763 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] 1763 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1764 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); 1764 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1765 1765
1766 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] 1766 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1767 public static extern void QfromR(out Quaternion q, ref Matrix3 R); 1767 public static extern void QfromR(out Quaternion q, ref Matrix3 R);
1768 1768
1769 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] 1769 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1770 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1770 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1771 1771
1772 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] 1772 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1773 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1773 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1774 1774
1775 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] 1775 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1776 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1776 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1777 1777
1778 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] 1778 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1779 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1779 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1780 1780
1781 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] 1781 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1782 public static extern void QSetIdentity(out Quaternion q); 1782 public static extern void QSetIdentity(out Quaternion q);
1783 1783
1784 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] 1784 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1785 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); 1785 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1786 1786
1787 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] 1787 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1788 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); 1788 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1789 1789
1790 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] 1790 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1791 public static extern dReal RandReal(); 1791 public static extern dReal RandReal();
1792 1792
1793 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] 1793 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1794 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); 1794 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1795 1795
1796 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] 1796 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1797 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); 1797 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1798 1798
1799 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] 1799 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1800 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); 1800 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1801 1801
1802 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] 1802 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1803 public static extern void RfromQ(out Matrix3 R, ref Quaternion q); 1803 public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1804 1804
1805 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] 1805 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1806 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); 1806 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1807 1807
1808 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] 1808 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1809 public static extern void RSetIdentity(out Matrix3 R); 1809 public static extern void RSetIdentity(out Matrix3 R);
1810 1810
1811 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] 1811 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1812 public static extern void SetValue(out dReal a, int n); 1812 public static extern void SetValue(out dReal a, int n);
1813 1813
1814 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] 1814 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1815 public static extern void SetZero(out dReal a, int n); 1815 public static extern void SetZero(out dReal a, int n);
1816 1816
1817 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] 1817 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1818 public static extern IntPtr SimpleSpaceCreate(IntPtr space); 1818 public static extern IntPtr SimpleSpaceCreate(IntPtr space);
1819 1819
1820 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] 1820 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1821 public static extern void SolveCholesky(ref dReal L, out dReal b, int n); 1821 public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1822 1822
1823 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] 1823 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1824 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); 1824 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1825 1825
1826 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] 1826 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1827 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); 1827 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1828 1828
1829 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] 1829 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1830 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); 1830 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1831 1831
1832 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] 1832 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1833 public static extern void SpaceAdd(IntPtr space, IntPtr geom); 1833 public static extern void SpaceAdd(IntPtr space, IntPtr geom);
1834 1834
1835 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] 1835 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
1836 public static extern bool SpaceLockQuery(IntPtr space); 1836 public static extern bool SpaceLockQuery(IntPtr space);
1837 1837
1838 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] 1838 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1839 public static extern void SpaceClean(IntPtr space); 1839 public static extern void SpaceClean(IntPtr space);
1840 1840
1841 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] 1841 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1842 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); 1842 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1843 1843
1844 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] 1844 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1845 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); 1845 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1846 1846
1847 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] 1847 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1848 public static extern void SpaceDestroy(IntPtr space); 1848 public static extern void SpaceDestroy(IntPtr space);
1849 1849
1850 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] 1850 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1851 public static extern bool SpaceGetCleanup(IntPtr space); 1851 public static extern bool SpaceGetCleanup(IntPtr space);
1852 1852
1853 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] 1853 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1854 public static extern int SpaceGetNumGeoms(IntPtr space); 1854 public static extern int SpaceGetNumGeoms(IntPtr space);
1855 1855
1856 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] 1856 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1857 public static extern IntPtr SpaceGetGeom(IntPtr space, int i); 1857 public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1858 1858
1859 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] 1859 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
1860 public static extern int SpaceGetSublevel(IntPtr space); 1860 public static extern int SpaceGetSublevel(IntPtr space);
1861 1861
1862 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] 1862 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1863 public static extern bool SpaceQuery(IntPtr space, IntPtr geom); 1863 public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1864 1864
1865 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] 1865 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1866 public static extern void SpaceRemove(IntPtr space, IntPtr geom); 1866 public static extern void SpaceRemove(IntPtr space, IntPtr geom);
1867 1867
1868 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] 1868 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1869 public static extern void SpaceSetCleanup(IntPtr space, bool mode); 1869 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
1870 1870
1871 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] 1871 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
1872 public static extern void SpaceSetSublevel(IntPtr space, int sublevel); 1872 public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
@@ -1874,53 +1874,53 @@ namespace OdeAPI
1874 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] 1874 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
1875 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); 1875 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
1876 1876
1877 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] 1877 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1878 public static extern void VectorScale(out dReal a, ref dReal d, int n); 1878 public static extern void VectorScale(out dReal a, ref dReal d, int n);
1879 1879
1880 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] 1880 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1881 public static extern IntPtr WorldCreate(); 1881 public static extern IntPtr WorldCreate();
1882 1882
1883 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] 1883 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1884 public static extern void WorldDestroy(IntPtr world); 1884 public static extern void WorldDestroy(IntPtr world);
1885 1885
1886 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] 1886 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1887 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); 1887 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
1888 1888
1889 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 1889 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1890 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); 1890 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1891 1891
1892 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 1892 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1893 public static extern bool WorldGetAutoDisableFlag(IntPtr world); 1893 public static extern bool WorldGetAutoDisableFlag(IntPtr world);
1894 1894
1895 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 1895 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1896 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); 1896 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1897 1897
1898 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 1898 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1899 public static extern int WorldGetAutoDisableSteps(IntPtr world); 1899 public static extern int WorldGetAutoDisableSteps(IntPtr world);
1900 1900
1901 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 1901 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1902 public static extern dReal WorldGetAutoDisableTime(IntPtr world); 1902 public static extern dReal WorldGetAutoDisableTime(IntPtr world);
1903 1903
1904 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] 1904 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1905 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); 1905 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1906 1906
1907 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] 1907 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1908 public static extern dReal WorldGetCFM(IntPtr world); 1908 public static extern dReal WorldGetCFM(IntPtr world);
1909 1909
1910 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] 1910 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1911 public static extern dReal WorldGetERP(IntPtr world); 1911 public static extern dReal WorldGetERP(IntPtr world);
1912 1912
1913 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] 1913 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1914 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); 1914 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1915 1915
1916 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] 1916 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1917 public static extern void WorldGetGravity(IntPtr world, out dReal X); 1917 public static extern void WorldGetGravity(IntPtr world, out dReal X);
1918 1918
1919 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] 1919 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1920 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); 1920 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1921 1921
1922 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] 1922 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1923 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); 1923 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1924 1924
1925 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] 1925 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
1926 public static extern dReal WorldGetAngularDamping(IntPtr world); 1926 public static extern dReal WorldGetAngularDamping(IntPtr world);
@@ -1934,23 +1934,23 @@ namespace OdeAPI
1934 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] 1934 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1935 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); 1935 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
1936 1936
1937 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] 1937 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1938 public static extern int WorldGetQuickStepNumIterations(IntPtr world); 1938 public static extern int WorldGetQuickStepNumIterations(IntPtr world);
1939 1939
1940 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] 1940 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1941 public static extern dReal WorldGetQuickStepW(IntPtr world); 1941 public static extern dReal WorldGetQuickStepW(IntPtr world);
1942 1942
1943 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] 1943 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1944 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); 1944 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
1945 1945
1946 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] 1946 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1947 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); 1947 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1948 1948
1949 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] 1949 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1950 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); 1950 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1951 1951
1952 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] 1952 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1953 public static extern void WorldQuickStep(IntPtr world, dReal stepsize); 1953 public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1954 1954
1955 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] 1955 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
1956 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); 1956 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
@@ -1958,67 +1958,67 @@ namespace OdeAPI
1958 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] 1958 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1959 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); 1959 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
1960 1960
1961 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 1961 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1962 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); 1962 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1963 1963
1964 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] 1964 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1965 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); 1965 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
1966 1966
1967 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 1967 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1968 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); 1968 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1969 1969
1970 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 1970 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1971 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); 1971 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1972 1972
1973 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 1973 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1974 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); 1974 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1975 1975
1976 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 1976 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1977 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); 1977 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1978 1978
1979 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] 1979 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1980 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); 1980 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1981 1981
1982 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] 1982 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1983 public static extern void WorldSetCFM(IntPtr world, dReal cfm); 1983 public static extern void WorldSetCFM(IntPtr world, dReal cfm);
1984 1984
1985 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] 1985 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1986 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); 1986 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1987 1987
1988 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] 1988 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1989 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); 1989 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1990 1990
1991 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] 1991 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
1992 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); 1992 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
1993 1993
1994 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] 1994 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1995 public static extern void WorldSetERP(IntPtr world, dReal erp); 1995 public static extern void WorldSetERP(IntPtr world, dReal erp);
1996
1997 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1998 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1996 1999
1997 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1998 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1999
2000 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] 2000 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
2001 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); 2001 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
2002 2002
2003 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] 2003 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
2004 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); 2004 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
2005 2005
2006 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] 2006 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
2007 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); 2007 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
2008 2008
2009 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] 2009 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
2010 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); 2010 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
2011 2011
2012 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] 2012 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
2013 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); 2013 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
2014 2014
2015 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] 2015 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
2016 public static extern void WorldStep(IntPtr world, dReal stepsize); 2016 public static extern void WorldStep(IntPtr world, dReal stepsize);
2017 2017
2018 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] 2018 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
2019 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); 2019 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
2020 2020
2021 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] 2021 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
2022 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); 2022 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
2023 } 2023 }
2024} 2024}
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
index f7e1044..9cef3d5 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
@@ -67,7 +67,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
67 StopERP3 = 7 + 512, 67 StopERP3 = 7 + 512,
68 StopCFM3 = 8 + 512 68 StopCFM3 = 8 + 512
69 } 69 }
70 70
71 public class OdeCharacter : PhysicsActor 71 public class OdeCharacter : PhysicsActor
72 { 72 {
73 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 73 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
@@ -121,7 +121,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
121 private float m_buoyancy = 0f; 121 private float m_buoyancy = 0f;
122 122
123 private bool m_freemove = false; 123 private bool m_freemove = false;
124 124
125// private string m_name = String.Empty; 125// private string m_name = String.Empty;
126 // other filter control 126 // other filter control
127 int m_colliderfilter = 0; 127 int m_colliderfilter = 0;
@@ -155,7 +155,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
155 public UUID m_uuid; 155 public UUID m_uuid;
156 public bool bad = false; 156 public bool bad = false;
157 157
158 float mu; 158 float mu;
159 159
160 // HoverHeight control 160 // HoverHeight control
161 private float m_PIDHoverHeight; 161 private float m_PIDHoverHeight;
@@ -218,7 +218,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
218 walkDivisor = walk_divisor; 218 walkDivisor = walk_divisor;
219 runDivisor = rundivisor; 219 runDivisor = rundivisor;
220 220
221 m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default 221 m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default
222 222
223 PID_D = basePID_D * m_mass * invtimeStep; 223 PID_D = basePID_D * m_mass * invtimeStep;
224 PID_P = basePID_P * m_mass * invtimeStep; 224 PID_P = basePID_P * m_mass * invtimeStep;
@@ -256,7 +256,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
256 256
257 public override uint LocalID 257 public override uint LocalID
258 { 258 {
259 get { return m_localID; } 259 get { return m_localID; }
260 set { m_localID = value; } 260 set { m_localID = value; }
261 } 261 }
262 262
@@ -508,7 +508,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
508 { 508 {
509 m_log.Warn("[PHYSICS]: Got a NaN AvatarSize from Scene on a Character"); 509 m_log.Warn("[PHYSICS]: Got a NaN AvatarSize from Scene on a Character");
510 } 510 }
511 511
512 } 512 }
513 /// <summary> 513 /// <summary>
514 /// This creates the Avatar's physical Surrogate at the position supplied 514 /// This creates the Avatar's physical Surrogate at the position supplied
@@ -636,7 +636,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
636 { 636 {
637 get 637 get
638 { 638 {
639 return m_targetVelocity; 639 return m_targetVelocity;
640 } 640 }
641 set 641 set
642 { 642 {
@@ -774,7 +774,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
774 774
775 PID_D = basePID_D * m_mass / _parent_scene.ODE_STEPSIZE; 775 PID_D = basePID_D * m_mass / _parent_scene.ODE_STEPSIZE;
776 PID_P = basePID_P * m_mass / _parent_scene.ODE_STEPSIZE; 776 PID_P = basePID_P * m_mass / _parent_scene.ODE_STEPSIZE;
777 777
778 Body = d.BodyCreate(_parent_scene.world); 778 Body = d.BodyCreate(_parent_scene.world);
779 779
780 _zeroFlag = false; 780 _zeroFlag = false;
@@ -900,7 +900,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
900 x = tx * cos - y * sin; 900 x = tx * cos - y * sin;
901 y = tx * sin + y * cos; 901 y = tx * sin + y * cos;
902 } 902 }
903 903
904 public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact, 904 public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact,
905 ref d.ContactGeom altContact , ref bool useAltcontact, ref bool feetcollision) 905 ref d.ContactGeom altContact , ref bool useAltcontact, ref bool feetcollision)
906 { 906 {
@@ -944,7 +944,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
944 } 944 }
945 } 945 }
946 return true; 946 return true;
947 } 947 }
948/* 948/*
949 d.AABB aabb; 949 d.AABB aabb;
950 d.GeomGetAABB(other,out aabb); 950 d.GeomGetAABB(other,out aabb);
@@ -1141,7 +1141,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1141 n.Y = 0f; 1141 n.Y = 0f;
1142 n.Z = 1.0f; 1142 n.Z = 1.0f;
1143 } 1143 }
1144 } 1144 }
1145 } 1145 }
1146 1146
1147 if (depth < 0.2f) 1147 if (depth < 0.2f)
@@ -1223,7 +1223,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1223 break; 1223 break;
1224 } // end switch (m_PIDHoverType) 1224 } // end switch (m_PIDHoverType)
1225 1225
1226 // don't go underground 1226 // don't go underground
1227 if (m_targetHoverHeight > terrainheight + 0.5f * (aabb.MaxZ - aabb.MinZ)) 1227 if (m_targetHoverHeight > terrainheight + 0.5f * (aabb.MaxZ - aabb.MinZ))
1228 { 1228 {
1229 float fz = (m_targetHoverHeight - localpos.Z); 1229 float fz = (m_targetHoverHeight - localpos.Z);
@@ -1248,7 +1248,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1248 } 1248 }
1249 } 1249 }
1250 } 1250 }
1251 1251
1252 //****************************************** 1252 //******************************************
1253 if (!m_iscolliding) 1253 if (!m_iscolliding)
1254 m_collideNormal.Z = 0; 1254 m_collideNormal.Z = 0;
@@ -1495,7 +1495,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1495 /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording 1495 /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
1496 /// also outbounds checking 1496 /// also outbounds checking
1497 /// copy and outbounds now done in move(..) at ode rate 1497 /// copy and outbounds now done in move(..) at ode rate
1498 /// 1498 ///
1499 /// </summary> 1499 /// </summary>
1500 public void UpdatePositionAndVelocity() 1500 public void UpdatePositionAndVelocity()
1501 { 1501 {
@@ -1625,7 +1625,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1625 CollisionEventsThisFrame.Clear(); 1625 CollisionEventsThisFrame.Clear();
1626 } 1626 }
1627 } 1627 }
1628 } 1628 }
1629 } 1629 }
1630 1630
1631 public override bool SubscribedEvents() 1631 public override bool SubscribedEvents()
@@ -1697,7 +1697,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1697 _position.Z + (m_size.Z - oldsz) * 0.5f); 1697 _position.Z + (m_size.Z - oldsz) * 0.5f);
1698 1698
1699// Velocity = Vector3.Zero; 1699// Velocity = Vector3.Zero;
1700 m_targetVelocity = Vector3.Zero; 1700 m_targetVelocity = Vector3.Zero;
1701 1701
1702 _parent_scene.actor_name_map[collider] = (PhysicsActor)this; 1702 _parent_scene.actor_name_map[collider] = (PhysicsActor)this;
1703 _parent_scene.actor_name_map[capsule] = (PhysicsActor)this; 1703 _parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
@@ -1717,7 +1717,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1717 d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z); 1717 d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
1718 _position = newPos; 1718 _position = newPos;
1719 m_freemove = false; 1719 m_freemove = false;
1720 m_pidControllerActive = true; 1720 m_pidControllerActive = true;
1721 } 1721 }
1722 1722
1723 private void changeOrientation(Quaternion newOri) 1723 private void changeOrientation(Quaternion newOri)
@@ -1772,35 +1772,35 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1772 1772
1773 private void changeSetTorque(Vector3 newTorque) 1773 private void changeSetTorque(Vector3 newTorque)
1774 { 1774 {
1775 } 1775 }
1776 1776
1777 private void changeAddForce(Vector3 newForce) 1777 private void changeAddForce(Vector3 newForce)
1778 { 1778 {
1779 } 1779 }
1780 1780
1781 private void changeAddAngularForce(Vector3 arg) 1781 private void changeAddAngularForce(Vector3 arg)
1782 { 1782 {
1783 } 1783 }
1784 1784
1785 private void changeAngularLock(byte arg) 1785 private void changeAngularLock(byte arg)
1786 { 1786 {
1787 } 1787 }
1788 1788
1789 private void changeFloatOnWater(bool arg) 1789 private void changeFloatOnWater(bool arg)
1790 { 1790 {
1791 } 1791 }
1792 1792
1793 private void changeVolumedetetion(bool arg) 1793 private void changeVolumedetetion(bool arg)
1794 { 1794 {
1795 } 1795 }
1796 1796
1797 private void changeSelectedStatus(bool arg) 1797 private void changeSelectedStatus(bool arg)
1798 { 1798 {
1799 } 1799 }
1800 1800
1801 private void changeDisable(bool arg) 1801 private void changeDisable(bool arg)
1802 { 1802 {
1803 } 1803 }
1804 1804
1805 private void changeBuilding(bool arg) 1805 private void changeBuilding(bool arg)
1806 { 1806 {
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
index fa32441..63bef7c 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
@@ -170,7 +170,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
170 m_type = vd.m_type; 170 m_type = vd.m_type;
171 m_flags = vd.m_flags; 171 m_flags = vd.m_flags;
172 172
173 173
174 // Linear properties 174 // Linear properties
175 m_linearMotorDirection = vd.m_linearMotorDirection; 175 m_linearMotorDirection = vd.m_linearMotorDirection;
176 176
@@ -761,8 +761,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
761 roll = (float)Math.Atan2(minuszY, zZ); 761 roll = (float)Math.Atan2(minuszY, zZ);
762 } 762 }
763 return ; 763 return ;
764 } 764 }
765 765
766 internal void Step() 766 internal void Step()
767 { 767 {
768 IntPtr Body = rootPrim.Body; 768 IntPtr Body = rootPrim.Body;
@@ -797,7 +797,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
797 Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local 797 Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
798 798
799 float ldampZ = 0; 799 float ldampZ = 0;
800 800
801 bool mousemode = false; 801 bool mousemode = false;
802 bool mousemodebank = false; 802 bool mousemodebank = false;
803 803
@@ -852,7 +852,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
852 m_lmEfect = 0; 852 m_lmEfect = 0;
853 m_ffactor = 1f; 853 m_ffactor = 1f;
854 } 854 }
855 855
856 // hover 856 // hover
857 if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero) 857 if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
858 { 858 {
@@ -1001,7 +1001,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1001 if (broll > halfpi) 1001 if (broll > halfpi)
1002 broll = pi - broll; 1002 broll = pi - broll;
1003 else if (broll < -halfpi) 1003 else if (broll < -halfpi)
1004 broll = -pi - broll; 1004 broll = -pi - broll;
1005 */ 1005 */
1006 broll *= m_bankingEfficiency; 1006 broll *= m_bankingEfficiency;
1007 if (m_bankingMix != 0) 1007 if (m_bankingMix != 0)
@@ -1054,7 +1054,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1054 float invamts = 1.0f/m_angularMotorTimescale; 1054 float invamts = 1.0f/m_angularMotorTimescale;
1055 float tmp; 1055 float tmp;
1056 1056
1057 // get out of x == 0 plane 1057 // get out of x == 0 plane
1058 if(Math.Abs(dirv.X) < 0.001f) 1058 if(Math.Abs(dirv.X) < 0.001f)
1059 dirv.X = 0.001f; 1059 dirv.X = 0.001f;
1060 1060
@@ -1068,7 +1068,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1068 torque.Y += (tmp - curLocalAngVel.Y) * invamts; 1068 torque.Y += (tmp - curLocalAngVel.Y) * invamts;
1069 torque.Y -= curLocalAngVel.Y * m_amdampY; 1069 torque.Y -= curLocalAngVel.Y * m_amdampY;
1070 } 1070 }
1071 else 1071 else
1072 torque.Y -= curLocalAngVel.Y * m_invtimestep; 1072 torque.Y -= curLocalAngVel.Y * m_invtimestep;
1073 1073
1074 if (Math.Abs(dirv.Y) > 0.01) 1074 if (Math.Abs(dirv.Y) > 0.01)
@@ -1099,7 +1099,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1099 { 1099 {
1100 if(mousemodebank) 1100 if(mousemodebank)
1101 torque.X -= curLocalAngVel.X * m_invtimestep; 1101 torque.X -= curLocalAngVel.X * m_invtimestep;
1102 else 1102 else
1103 torque.Z -= curLocalAngVel.Z * m_invtimestep; 1103 torque.Z -= curLocalAngVel.Z * m_invtimestep;
1104 } 1104 }
1105 } 1105 }
@@ -1133,11 +1133,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1133 if (m_angularDeflectionEfficiency > 0) 1133 if (m_angularDeflectionEfficiency > 0)
1134 { 1134 {
1135 Vector3 dirv; 1135 Vector3 dirv;
1136 1136
1137 if (curLocalVel.X > 0.01f) 1137 if (curLocalVel.X > 0.01f)
1138 dirv = curLocalVel; 1138 dirv = curLocalVel;
1139 else if (curLocalVel.X < -0.01f) 1139 else if (curLocalVel.X < -0.01f)
1140 // use oposite 1140 // use oposite
1141 dirv = -curLocalVel; 1141 dirv = -curLocalVel;
1142 else 1142 else
1143 { 1143 {
@@ -1167,7 +1167,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1167 torque.Z -= curLocalAngVel.Z * m_amdampZ; 1167 torque.Z -= curLocalAngVel.Z * m_amdampZ;
1168 } 1168 }
1169 } 1169 }
1170 1170
1171 force *= dmass.mass; 1171 force *= dmass.mass;
1172 1172
1173 force += rootPrim.m_force; 1173 force += rootPrim.m_force;
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEMeshWorker.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEMeshWorker.cs
index bb661e5..923e2ff 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEMeshWorker.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEMeshWorker.cs
@@ -27,7 +27,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
27 AssetOK = 0x0f, // 00001111 27 AssetOK = 0x0f, // 00001111
28 28
29 NeedMask = 0x30, // 00110000 29 NeedMask = 0x30, // 00110000
30 needMesh = 0x10, // 00010000 30 needMesh = 0x10, // 00010000
31 needAsset = 0x20, // 00100000 31 needAsset = 0x20, // 00100000
32 32
33 FailMask = 0xC0, // 11000000 33 FailMask = 0xC0, // 11000000
@@ -287,7 +287,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
287 public bool needsMeshing(ODEPhysRepData repData) 287 public bool needsMeshing(ODEPhysRepData repData)
288 { 288 {
289 PrimitiveBaseShape pbs = repData.pbs; 289 PrimitiveBaseShape pbs = repData.pbs;
290 // check sculpts or meshs 290 // check sculpts or meshs
291 if (pbs.SculptEntry) 291 if (pbs.SculptEntry)
292 { 292 {
293 if (meshSculptedPrim) 293 if (meshSculptedPrim)
@@ -462,7 +462,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
462 repData.meshState = MeshState.MeshFailed; 462 repData.meshState = MeshState.MeshFailed;
463 return; 463 return;
464 } 464 }
465 } 465 }
466 } 466 }
467 467
468 repData.meshState = MeshState.AssetOK; 468 repData.meshState = MeshState.AssetOK;
@@ -525,7 +525,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
525 } 525 }
526 526
527 mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true); 527 mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
528 528
529 if (mesh == null) 529 if (mesh == null)
530 { 530 {
531 if (pbs.SculptEntry) 531 if (pbs.SculptEntry)
@@ -607,7 +607,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
607 607
608 else if (_pbs.PathCurve == (byte)Extrusion.Curve1) 608 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
609 { 609 {
610 //a tube 610 //a tube
611 611
612 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); 612 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
613 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY); 613 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
@@ -857,7 +857,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
857 // this is crude aproximation 857 // this is crude aproximation
858 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; 858 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
859 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; 859 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
860 volume *= (profileEnd - profileBegin); 860 volume *= (profileEnd - profileBegin);
861 861
862 repData.volume = volume; 862 repData.volume = volume;
863 } 863 }
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEModule.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEModule.cs
index 51b8e4e..4cb1736 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEModule.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEModule.cs
@@ -11,16 +11,16 @@ using OpenSim.Region.Framework.Interfaces;
11 11
12namespace OpenSim.Region.PhysicsModule.ubOde 12namespace OpenSim.Region.PhysicsModule.ubOde
13{ 13{
14 [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ubODEPhysicsScene")] 14 [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ubODEPhysicsScene")]
15 class ubOdeModule : INonSharedRegionModule 15 class ubOdeModule : INonSharedRegionModule
16 { 16 {
17 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 17 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
18 18
19 private static Dictionary<Scene, ODEScene> m_scenes = new Dictionary<Scene, ODEScene>(); 19 private static Dictionary<Scene, ODEScene> m_scenes = new Dictionary<Scene, ODEScene>();
20 private bool m_Enabled = false; 20 private bool m_Enabled = false;
21 private IConfigSource m_config; 21 private IConfigSource m_config;
22 private bool OSOdeLib; 22 private bool OSOdeLib;
23 23
24 24
25 #region INonSharedRegionModule 25 #region INonSharedRegionModule
26 26
@@ -80,7 +80,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
80 80
81 if(m_scenes.ContainsKey(scene)) // ??? 81 if(m_scenes.ContainsKey(scene)) // ???
82 return; 82 return;
83 ODEScene newodescene = new ODEScene(scene, m_config, Name, Version, OSOdeLib); 83 ODEScene newodescene = new ODEScene(scene, m_config, Name, Version, OSOdeLib);
84 m_scenes[scene] = newodescene; 84 m_scenes[scene] = newodescene;
85 } 85 }
86 86
@@ -100,13 +100,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
100 { 100 {
101 if (!m_Enabled) 101 if (!m_Enabled)
102 return; 102 return;
103 103
104 if(m_scenes.ContainsKey(scene)) 104 if(m_scenes.ContainsKey(scene))
105 { 105 {
106 m_scenes[scene].RegionLoaded(); 106 m_scenes[scene].RegionLoaded();
107 } 107 }
108 108
109 } 109 }
110 #endregion 110 #endregion
111 } 111 }
112} 112}
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
index a50905b..a2fbf41 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/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.
@@ -107,7 +107,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
107 private float m_targetHoverHeight; 107 private float m_targetHoverHeight;
108 private float m_groundHeight; 108 private float m_groundHeight;
109 private float m_waterHeight; 109 private float m_waterHeight;
110 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 110 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
111 111
112 private int body_autodisable_frames; 112 private int body_autodisable_frames;
113 public int bodydisablecontrol = 0; 113 public int bodydisablecontrol = 0;
@@ -143,7 +143,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
143 143
144 private UUID? m_assetID; 144 private UUID? m_assetID;
145 private MeshState m_meshState; 145 private MeshState m_meshState;
146 146
147 public ODEScene _parent_scene; 147 public ODEScene _parent_scene;
148 148
149 /// <summary> 149 /// <summary>
@@ -888,7 +888,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
888 888
889 m_lastVelocity = _velocity; 889 m_lastVelocity = _velocity;
890 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) 890 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
891 m_vehicle.Stop(); 891 m_vehicle.Stop();
892 892
893 if(Body != IntPtr.Zero) 893 if(Body != IntPtr.Zero)
894 d.BodySetLinearVel(Body, 0, 0, 0); // stop it 894 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
@@ -980,7 +980,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
980 { 980 {
981// m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); 981// m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
982 AddChange(changes.AngLock, axislock); 982 AddChange(changes.AngLock, axislock);
983 983
984 } 984 }
985 985
986 public override void SubscribeEvents(int ms) 986 public override void SubscribeEvents(int ms)
@@ -1464,7 +1464,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1464 IntPtr vertices, indices; 1464 IntPtr vertices, indices;
1465 int vertexCount, indexCount; 1465 int vertexCount, indexCount;
1466 int vertexStride, triStride; 1466 int vertexStride, triStride;
1467 1467
1468 IMesh mesh = m_mesh; 1468 IMesh mesh = m_mesh;
1469 1469
1470 if (mesh == null) 1470 if (mesh == null)
@@ -1529,7 +1529,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1529 m_OBB = _size * 0.5f; 1529 m_OBB = _size * 0.5f;
1530 m_physCost = 0.1f; 1530 m_physCost = 0.1f;
1531 m_streamCost = 1.0f; 1531 m_streamCost = 1.0f;
1532 1532
1533 _parent_scene.mesher.ReleaseMesh(mesh); 1533 _parent_scene.mesher.ReleaseMesh(mesh);
1534 m_meshState = MeshState.MeshFailed; 1534 m_meshState = MeshState.MeshFailed;
1535 m_mesh = null; 1535 m_mesh = null;
@@ -1830,7 +1830,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1830 if (childrenPrim.Count == 0) 1830 if (childrenPrim.Count == 0)
1831 { 1831 {
1832 collide_geom = prim_geom; 1832 collide_geom = prim_geom;
1833 m_targetSpace = _parent_scene.ActiveSpace; 1833 m_targetSpace = _parent_scene.ActiveSpace;
1834 } 1834 }
1835 else 1835 else
1836 { 1836 {
@@ -1911,7 +1911,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1911 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); 1911 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1912 _zeroFlag = false; 1912 _zeroFlag = false;
1913 bodydisablecontrol = 0; 1913 bodydisablecontrol = 0;
1914 } 1914 }
1915 _parent_scene.addActiveGroups(this); 1915 _parent_scene.addActiveGroups(this);
1916 } 1916 }
1917 1917
@@ -2011,7 +2011,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2011 d.Matrix3 mat = new d.Matrix3(); 2011 d.Matrix3 mat = new d.Matrix3();
2012 d.Quaternion quat = new d.Quaternion(); 2012 d.Quaternion quat = new d.Quaternion();
2013 2013
2014 d.Mass tmpdmass = new d.Mass { }; 2014 d.Mass tmpdmass = new d.Mass { };
2015 d.Mass objdmass = new d.Mass { }; 2015 d.Mass objdmass = new d.Mass { };
2016 2016
2017 d.BodyGetMass(Body, out tmpdmass); 2017 d.BodyGetMass(Body, out tmpdmass);
@@ -2039,7 +2039,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2039 // subtract current prim inertia from object 2039 // subtract current prim inertia from object
2040 DMassSubPartFromObj(ref tmpdmass, ref objdmass); 2040 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
2041 2041
2042 // back prim own inertia 2042 // back prim own inertia
2043 tmpdmass = primdMass; 2043 tmpdmass = primdMass;
2044 2044
2045 // update to new position and orientation 2045 // update to new position and orientation
@@ -2444,7 +2444,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2444 MakeBody(); 2444 MakeBody();
2445 } 2445 }
2446 2446
2447 2447
2448 #region changes 2448 #region changes
2449 2449
2450 private void changeadd() 2450 private void changeadd()
@@ -3011,7 +3011,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3011 3011
3012 primVolume = repData.volume; 3012 primVolume = repData.volume;
3013 3013
3014 CreateGeom(); 3014 CreateGeom();
3015 3015
3016 if (prim_geom != IntPtr.Zero) 3016 if (prim_geom != IntPtr.Zero)
3017 { 3017 {
@@ -3145,7 +3145,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3145 3145
3146 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); 3146 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
3147 } 3147 }
3148 //resetCollisionAccounting(); 3148 //resetCollisionAccounting();
3149 } 3149 }
3150 _velocity = newVel; 3150 _velocity = newVel;
3151 } 3151 }
@@ -3171,7 +3171,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3171 3171
3172 d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z); 3172 d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z);
3173 } 3173 }
3174 //resetCollisionAccounting(); 3174 //resetCollisionAccounting();
3175 } 3175 }
3176 m_rotationalVelocity = newAngVel; 3176 m_rotationalVelocity = newAngVel;
3177 } 3177 }
@@ -3316,7 +3316,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3316 // let vehicles sleep 3316 // let vehicles sleep
3317 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) 3317 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3318 return; 3318 return;
3319 3319
3320 if (++bodydisablecontrol < 50) 3320 if (++bodydisablecontrol < 50)
3321 return; 3321 return;
3322 3322
@@ -3414,7 +3414,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3414 break; 3414 break;
3415 } // end switch (m_PIDHoverType) 3415 } // end switch (m_PIDHoverType)
3416 3416
3417 // don't go underground unless volumedetector 3417 // don't go underground unless volumedetector
3418 3418
3419 if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect) 3419 if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)
3420 { 3420 {
@@ -3526,7 +3526,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3526 3526
3527 d.BodySetLinearVel(Body, 0, 0, 0); // stop it 3527 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3528 d.BodySetAngularVel(Body, 0, 0, 0); // stop it 3528 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3529 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere 3529 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3530 m_lastposition = _position; 3530 m_lastposition = _position;
3531 m_lastorientation = _orientation; 3531 m_lastorientation = _orientation;
3532 3532
@@ -3635,7 +3635,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3635 _orientation.X = ori.X; 3635 _orientation.X = ori.X;
3636 _orientation.Y = ori.Y; 3636 _orientation.Y = ori.Y;
3637 _orientation.Z = ori.Z; 3637 _orientation.Z = ori.Z;
3638 _orientation.W = ori.W; 3638 _orientation.W = ori.W;
3639 } 3639 }
3640 3640
3641 // update velocities and aceleration 3641 // update velocities and aceleration
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs
index adefd5e..f671722 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs
@@ -139,7 +139,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
139 continue; 139 continue;
140 } 140 }
141 } 141 }
142 142
143 CurrentRayFilter = req.filter; 143 CurrentRayFilter = req.filter;
144 CurrentMaxCount = req.Count; 144 CurrentMaxCount = req.Count;
145 145
@@ -279,7 +279,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
279 /// Method that actually initiates the raycast with spaces 279 /// Method that actually initiates the raycast with spaces
280 /// </summary> 280 /// </summary>
281 /// <param name="req"></param> 281 /// <param name="req"></param>
282 /// 282 ///
283 283
284 private void NoContacts(ODERayRequest req) 284 private void NoContacts(ODERayRequest req)
285 { 285 {
@@ -488,7 +488,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
488 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom)); 488 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
489 return true; 489 return true;
490 } 490 }
491 491
492 // This is the standard Near. g1 is the ray 492 // This is the standard Near. g1 is the ray
493 private void near(IntPtr space, IntPtr g1, IntPtr g2) 493 private void near(IntPtr space, IntPtr g1, IntPtr g2)
494 { 494 {
@@ -530,7 +530,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
530 uint col1 = d.GeomGetCollideBits(g1); 530 uint col1 = d.GeomGetCollideBits(g1);
531 uint col2 = d.GeomGetCollideBits(g2); 531 uint col2 = d.GeomGetCollideBits(g2);
532*/ 532*/
533 533
534 uint ID = 0; 534 uint ID = 0;
535 PhysicsActor p2 = null; 535 PhysicsActor p2 = null;
536 536
@@ -671,7 +671,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
671 { 671 {
672 d.GeomDestroy(Plane); 672 d.GeomDestroy(Plane);
673 Plane = IntPtr.Zero; 673 Plane = IntPtr.Zero;
674 } 674 }
675 } 675 }
676 } 676 }
677 677
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index 410463c..bed66cc 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -97,7 +97,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
97 97
98 light = 7 // compatibility with old viewers 98 light = 7 // compatibility with old viewers
99 } 99 }
100 100
101 public enum changes : int 101 public enum changes : int
102 { 102 {
103 Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?) 103 Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
@@ -182,7 +182,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
182 const float comumContactERP = 0.75f; 182 const float comumContactERP = 0.75f;
183 const float comumContactCFM = 0.0001f; 183 const float comumContactCFM = 0.0001f;
184 const float comumContactSLIP = 0f; 184 const float comumContactSLIP = 0f;
185 185
186 float frictionMovementMult = 0.8f; 186 float frictionMovementMult = 0.8f;
187 187
188 float TerrainBounce = 0.1f; 188 float TerrainBounce = 0.1f;
@@ -241,7 +241,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
241 /// </summary> 241 /// </summary>
242 private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>(); 242 private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
243 private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>(); 243 private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
244 244
245 private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>(); 245 private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
246 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>(); 246 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
247 247
@@ -262,7 +262,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
262 private IntPtr TerrainGeom; 262 private IntPtr TerrainGeom;
263 private float[] TerrainHeightFieldHeight; 263 private float[] TerrainHeightFieldHeight;
264 private GCHandle TerrainHeightFieldHeightsHandler = new GCHandle(); 264 private GCHandle TerrainHeightFieldHeightsHandler = new GCHandle();
265 265
266 private int m_physicsiterations = 15; 266 private int m_physicsiterations = 15;
267 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag 267 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
268// private PhysicsActor PANull = new NullPhysicsActor(); 268// private PhysicsActor PANull = new NullPhysicsActor();
@@ -330,7 +330,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
330 EngineType = pname; 330 EngineType = pname;
331 PhysicsSceneName = EngineType + "/" + pscene.RegionInfo.RegionName; 331 PhysicsSceneName = EngineType + "/" + pscene.RegionInfo.RegionName;
332 EngineName = pname + " " + pversion; 332 EngineName = pname + " " + pversion;
333 m_config = psourceconfig; 333 m_config = psourceconfig;
334 m_OSOdeLib = pOSOdeLib; 334 m_OSOdeLib = pOSOdeLib;
335 335
336// m_OSOdeLib = false; //debug 336// m_OSOdeLib = false; //debug
@@ -343,7 +343,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
343 343
344 base.Initialise(m_frameWorkScene.PhysicsRequestAsset, 344 base.Initialise(m_frameWorkScene.PhysicsRequestAsset,
345 (m_frameWorkScene.Heightmap != null ? m_frameWorkScene.Heightmap.GetFloatsSerialised() : new float[m_frameWorkScene.RegionInfo.RegionSizeX * m_frameWorkScene.RegionInfo.RegionSizeY]), 345 (m_frameWorkScene.Heightmap != null ? m_frameWorkScene.Heightmap.GetFloatsSerialised() : new float[m_frameWorkScene.RegionInfo.RegionSizeX * m_frameWorkScene.RegionInfo.RegionSizeY]),
346 (float)m_frameWorkScene.RegionInfo.RegionSettings.WaterHeight); 346 (float)m_frameWorkScene.RegionInfo.RegionSettings.WaterHeight);
347 } 347 }
348 348
349 public void RegionLoaded() 349 public void RegionLoaded()
@@ -354,7 +354,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
354 m_log.ErrorFormat("[ubOde] No mesher. module disabled"); 354 m_log.ErrorFormat("[ubOde] No mesher. module disabled");
355 return; 355 return;
356 } 356 }
357 357
358 m_meshWorker = new ODEMeshWorker(this, m_log, mesher, physicsconfig); 358 m_meshWorker = new ODEMeshWorker(this, m_log, mesher, physicsconfig);
359 m_frameWorkScene.PhysicsEnabled = true; 359 m_frameWorkScene.PhysicsEnabled = true;
360 } 360 }
@@ -394,7 +394,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
394 } 394 }
395 catch 395 catch
396 { 396 {
397 // i must RtC#FM 397 // i must RtC#FM
398 // i did! 398 // i did!
399 } 399 }
400 400
@@ -674,7 +674,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
674 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param> 674 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
675 /// <param name="g1">a geometry or space</param> 675 /// <param name="g1">a geometry or space</param>
676 /// <param name="g2">another geometry or space</param> 676 /// <param name="g2">another geometry or space</param>
677 /// 677 ///
678 678
679 private void near(IntPtr space, IntPtr g1, IntPtr g2) 679 private void near(IntPtr space, IntPtr g1, IntPtr g2)
680 { 680 {
@@ -784,7 +784,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
784 if (count == 0) 784 if (count == 0)
785 return; 785 return;
786 786
787 // try get physical actors 787 // try get physical actors
788 PhysicsActor p1; 788 PhysicsActor p1;
789 PhysicsActor p2; 789 PhysicsActor p2;
790 790
@@ -1135,10 +1135,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1135 chr.IsColliding = false; 1135 chr.IsColliding = false;
1136 // chr.CollidingGround = false; not done here 1136 // chr.CollidingGround = false; not done here
1137 chr.CollidingObj = false; 1137 chr.CollidingObj = false;
1138 1138
1139 if(chr.Body == IntPtr.Zero || chr.collider == IntPtr.Zero ) 1139 if(chr.Body == IntPtr.Zero || chr.collider == IntPtr.Zero )
1140 continue; 1140 continue;
1141 1141
1142 // do colisions with static space 1142 // do colisions with static space
1143 d.SpaceCollide2(chr.collider, StaticSpace, IntPtr.Zero, nearCallback); 1143 d.SpaceCollide2(chr.collider, StaticSpace, IntPtr.Zero, nearCallback);
1144 1144
@@ -1160,7 +1160,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1160 foreach (OdePrim aprim in _activeprims) 1160 foreach (OdePrim aprim in _activeprims)
1161 { 1161 {
1162 aprim.CollisionScore = 0; 1162 aprim.CollisionScore = 0;
1163 aprim.IsColliding = false; 1163 aprim.IsColliding = false;
1164 } 1164 }
1165 } 1165 }
1166 lock (_activegroups) 1166 lock (_activegroups)
@@ -1170,7 +1170,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1170 foreach (OdePrim aprim in _activegroups) 1170 foreach (OdePrim aprim in _activegroups)
1171 { 1171 {
1172 if(!aprim.m_outbounds && d.BodyIsEnabled(aprim.Body) && 1172 if(!aprim.m_outbounds && d.BodyIsEnabled(aprim.Body) &&
1173 aprim.collide_geom != IntPtr.Zero) 1173 aprim.collide_geom != IntPtr.Zero)
1174 { 1174 {
1175 d.SpaceCollide2(StaticSpace, aprim.collide_geom, IntPtr.Zero, nearCallback); 1175 d.SpaceCollide2(StaticSpace, aprim.collide_geom, IntPtr.Zero, nearCallback);
1176 d.SpaceCollide2(GroundSpace, aprim.collide_geom, IntPtr.Zero, nearCallback); 1176 d.SpaceCollide2(GroundSpace, aprim.collide_geom, IntPtr.Zero, nearCallback);
@@ -1251,7 +1251,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1251 size, feetOffset, avDensity, avMovementDivisorWalk, avMovementDivisorRun); 1251 size, feetOffset, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
1252 newAv.Flying = isFlying; 1252 newAv.Flying = isFlying;
1253 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; 1253 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1254 1254
1255 return newAv; 1255 return newAv;
1256 } 1256 }
1257 1257
@@ -1301,7 +1301,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1301 1301
1302 public void addActivePrim(OdePrim activatePrim) 1302 public void addActivePrim(OdePrim activatePrim)
1303 { 1303 {
1304 // adds active prim.. 1304 // adds active prim..
1305 lock (_activeprims) 1305 lock (_activeprims)
1306 { 1306 {
1307 if (!_activeprims.Contains(activatePrim)) 1307 if (!_activeprims.Contains(activatePrim))
@@ -1324,7 +1324,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1324 OdePrim newPrim; 1324 OdePrim newPrim;
1325 lock (OdeLock) 1325 lock (OdeLock)
1326 { 1326 {
1327 1327
1328 newPrim = new OdePrim(name, this, position, size, rotation, pbs, isphysical, isPhantom, shapeType, localID); 1328 newPrim = new OdePrim(name, this, position, size, rotation, pbs, isphysical, isPhantom, shapeType, localID);
1329 } 1329 }
1330 return newPrim; 1330 return newPrim;
@@ -1372,7 +1372,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1372 { 1372 {
1373// lock (OdeLock) 1373// lock (OdeLock)
1374 { 1374 {
1375 1375
1376 OdePrim p = (OdePrim)prim; 1376 OdePrim p = (OdePrim)prim;
1377 p.setPrimForRemoval(); 1377 p.setPrimForRemoval();
1378 } 1378 }
@@ -1423,7 +1423,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1423 _prims[prim.LocalID] = prim; 1423 _prims[prim.LocalID] = prim;
1424 } 1424 }
1425 } 1425 }
1426 1426
1427 public bool haveActor(PhysicsActor actor) 1427 public bool haveActor(PhysicsActor actor)
1428 { 1428 {
1429 if (actor is OdePrim) 1429 if (actor is OdePrim)
@@ -1531,14 +1531,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1531 x = (int)(pos.X * spacesPerMeterX); 1531 x = (int)(pos.X * spacesPerMeterX);
1532 if (x > spaceGridMaxX) 1532 if (x > spaceGridMaxX)
1533 return staticPrimspaceOffRegion[1]; 1533 return staticPrimspaceOffRegion[1];
1534 1534
1535 y = (int)(pos.Y * spacesPerMeterY); 1535 y = (int)(pos.Y * spacesPerMeterY);
1536 if (y > spaceGridMaxY) 1536 if (y > spaceGridMaxY)
1537 return staticPrimspaceOffRegion[3]; 1537 return staticPrimspaceOffRegion[3];
1538 1538
1539 return staticPrimspace[x, y]; 1539 return staticPrimspace[x, y];
1540 } 1540 }
1541 1541
1542 #endregion 1542 #endregion
1543 1543
1544 1544
@@ -1628,7 +1628,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1628 TimeSpan timedif = now - m_lastframe; 1628 TimeSpan timedif = now - m_lastframe;
1629 float timeStep = (float)timedif.TotalSeconds; 1629 float timeStep = (float)timedif.TotalSeconds;
1630 m_lastframe = now; 1630 m_lastframe = now;
1631 1631
1632 // acumulate time so we can reduce error 1632 // acumulate time so we can reduce error
1633 step_time += timeStep; 1633 step_time += timeStep;
1634 1634
@@ -1654,7 +1654,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1654 } 1654 }
1655 1655
1656 ODEchangeitem item; 1656 ODEchangeitem item;
1657 1657
1658// d.WorldSetQuickStepNumIterations(world, curphysiteractions); 1658// d.WorldSetQuickStepNumIterations(world, curphysiteractions);
1659 1659
1660 int loopstartMS = Util.EnvironmentTickCount(); 1660 int loopstartMS = Util.EnvironmentTickCount();
@@ -1662,9 +1662,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1662 int changestimeMS = 0; 1662 int changestimeMS = 0;
1663 int maxChangestime = (int)(reqTimeStep * 500f); // half the time 1663 int maxChangestime = (int)(reqTimeStep * 500f); // half the time
1664 int maxLoopTime = (int)(reqTimeStep * 1200f); // 1.2 the time 1664 int maxLoopTime = (int)(reqTimeStep * 1200f); // 1.2 the time
1665 1665
1666 d.AllocateODEDataForThread(~0U); 1666 d.AllocateODEDataForThread(~0U);
1667 1667
1668 if (ChangesQueue.Count > 0) 1668 if (ChangesQueue.Count > 0)
1669 { 1669 {
1670 while (ChangesQueue.Dequeue(out item)) 1670 while (ChangesQueue.Dequeue(out item))
@@ -1726,7 +1726,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1726 aprim.Move(); 1726 aprim.Move();
1727 } 1727 }
1728 } 1728 }
1729 1729
1730 m_rayCastManager.ProcessQueuedRequests(); 1730 m_rayCastManager.ProcessQueuedRequests();
1731 1731
1732 collision_optimized(); 1732 collision_optimized();
@@ -1750,7 +1750,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1750 { 1750 {
1751 pobj.SendCollisions((int)(odetimestepMS)); 1751 pobj.SendCollisions((int)(odetimestepMS));
1752 if(pobj.Body != IntPtr.Zero && !pobj.m_isSelected && 1752 if(pobj.Body != IntPtr.Zero && !pobj.m_isSelected &&
1753 !pobj.m_disabled && !pobj.m_building && 1753 !pobj.m_disabled && !pobj.m_building &&
1754 !d.BodyIsEnabled(pobj.Body)) 1754 !d.BodyIsEnabled(pobj.Body))
1755 sleepers.Add(pobj); 1755 sleepers.Add(pobj);
1756 } 1756 }
@@ -1900,7 +1900,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1900 1900
1901 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); 1901 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
1902 } 1902 }
1903 1903
1904 fps = (float)nodeframes * ODE_STEPSIZE / reqTimeStep; 1904 fps = (float)nodeframes * ODE_STEPSIZE / reqTimeStep;
1905 1905
1906 if(step_time < HalfOdeStep) 1906 if(step_time < HalfOdeStep)
@@ -2166,7 +2166,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2166 h0 = (float)heights[iy]; // 0,1 2166 h0 = (float)heights[iy]; // 0,1
2167 h2 = (float)heights[iy+xstep]; // 1,1 vertice 2167 h2 = (float)heights[iy+xstep]; // 1,1 vertice
2168 norm.X = h0 - h2; 2168 norm.X = h0 - h2;
2169 norm.Y = h1 - h0; 2169 norm.Y = h1 - h0;
2170 } 2170 }
2171 else 2171 else
2172 { 2172 {
@@ -2214,7 +2214,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2214 const float thickness = 10f; 2214 const float thickness = 10f;
2215 const int wrap = 0; 2215 const int wrap = 0;
2216 2216
2217 2217
2218 float hfmin = float.MaxValue; 2218 float hfmin = float.MaxValue;
2219 float hfmax = float.MinValue; 2219 float hfmax = float.MinValue;
2220 float val; 2220 float val;
@@ -2503,7 +2503,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2503 2503
2504 orderedPrims.Sort(compareByCollisionsDesc); 2504 orderedPrims.Sort(compareByCollisionsDesc);
2505 topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore); 2505 topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
2506 2506
2507 return topColliders; 2507 return topColliders;
2508 } 2508 }
2509 2509
@@ -2546,7 +2546,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2546 } 2546 }
2547 } 2547 }
2548 2548
2549 2549
2550 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) 2550 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
2551 { 2551 {
2552 List<ContactResult> ourresults = new List<ContactResult>(); 2552 List<ContactResult> ourresults = new List<ContactResult>();
generated by cgit v1.1 at 2024-12-26 21:43:42 +0000