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-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs18
-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/Drawstuff/Drawstuff.cs58
-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/Drawstuff/premake.lua19
-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs18
-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs1732
-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua31
-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/README.TXT73
-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs260
-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/Tests/premake.lua27
-rw-r--r--libraries/ode-0.9/contrib/Ode.NET/premake.lua29
10 files changed, 2265 insertions, 0 deletions
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs b/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs
new file mode 100644
index 0000000..8d2b86a
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs
@@ -0,0 +1,18 @@
1using System;
2using System.Reflection;
3using System.Runtime.CompilerServices;
4using System.Runtime.InteropServices;
5
6[assembly: AssemblyTitle("Drawstuff.NET")]
7[assembly: AssemblyDescription("")]
8[assembly: AssemblyConfiguration("")]
9[assembly: AssemblyCompany("")]
10[assembly: AssemblyProduct("Ode.NET")]
11[assembly: AssemblyCopyright("")]
12[assembly: AssemblyTrademark("")]
13[assembly: AssemblyCulture("")]
14[assembly: ComVisible(false)]
15[assembly: Guid("b2a39dd4-dd67-4e8a-af70-d3b412da8850")]
16[assembly: AssemblyVersion("0.7.0.0")]
17[assembly: AssemblyFileVersion("0.7.0.0")]
18[assembly: CLSCompliantAttribute(true)]
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/Drawstuff.cs b/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/Drawstuff.cs
new file mode 100644
index 0000000..aa84966
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/Drawstuff.cs
@@ -0,0 +1,58 @@
1using System;
2using System.Runtime.InteropServices;
3using Ode.NET;
4
5namespace Drawstuff.NET
6{
7#if dDOUBLE
8 using dReal = System.Double;
9#else
10 using dReal = System.Single;
11#endif
12
13 public static class ds
14 {
15 public const int VERSION = 2;
16
17 public enum Texture
18 {
19 None,
20 Wood
21 }
22
23 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
24 public delegate void CallbackFunction(int arg);
25
26 [StructLayout(LayoutKind.Sequential)]
27 public struct Functions
28 {
29 public int version;
30 public CallbackFunction start;
31 public CallbackFunction step;
32 public CallbackFunction command;
33 public CallbackFunction stop;
34 public string path_to_textures;
35 }
36
37 [DllImport("drawstuff", EntryPoint="dsDrawBox")]
38 public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
39
40 [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
41 public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
42
43 [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
44 public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
45
46 [DllImport("drawstuff", EntryPoint="dsSetColor")]
47 public static extern void SetColor(float red, float green, float blue);
48
49 [DllImport("drawstuff", EntryPoint="dsSetTexture")]
50 public static extern void SetTexture(Texture texture);
51
52 [DllImport("drawstuff", EntryPoint="dsSetViewpoint")]
53 public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
54
55 [DllImport("drawstuff", EntryPoint="dsSimulationLoop")]
56 public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
57 }
58}
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/premake.lua b/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/premake.lua
new file mode 100644
index 0000000..d777ffb
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/premake.lua
@@ -0,0 +1,19 @@
1package.name = "Drawstuff.NET"
2package.kind = "dll"
3package.language = "c#"
4
5if (options["with-doubles"]) then
6 package.defines = { "dDOUBLE" }
7else
8 package.defines = { "dSINGLE " }
9end
10
11package.links = {
12 "System",
13 "Ode.NET"
14}
15
16package.files = {
17 "AssemblyInfo.cs",
18 "Drawstuff.cs"
19}
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs b/libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs
new file mode 100644
index 0000000..6a8c2b6
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs
@@ -0,0 +1,18 @@
1using System;
2using System.Reflection;
3using System.Runtime.CompilerServices;
4using System.Runtime.InteropServices;
5
6[assembly: AssemblyTitle("Ode.NET")]
7[assembly: AssemblyDescription("")]
8[assembly: AssemblyConfiguration("")]
9[assembly: AssemblyCompany("")]
10[assembly: AssemblyProduct("Ode.NET")]
11[assembly: AssemblyCopyright("")]
12[assembly: AssemblyTrademark("")]
13[assembly: AssemblyCulture("")]
14[assembly: ComVisible(false)]
15[assembly: Guid("1347a35e-c32b-4ff6-8064-7d10b2cc113b")]
16[assembly: AssemblyVersion("0.7.0.0")]
17[assembly: AssemblyFileVersion("0.7.0.0")]
18[assembly: CLSCompliantAttribute(true)]
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs b/libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs
new file mode 100644
index 0000000..0603810
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs
@@ -0,0 +1,1732 @@
1using System;
2using System.Runtime.InteropServices;
3using System.Security;
4
5namespace Ode.NET
6{
7#if dDOUBLE
8 using dReal = System.Double;
9#else
10 using dReal = System.Single;
11#endif
12
13 public static class d
14 {
15 public static dReal Infinity = dReal.MaxValue;
16
17 #region Flags and Enumerations
18
19 [Flags]
20 public enum ContactFlags : int
21 {
22 Mu2 = 0x001,
23 FDir1 = 0x002,
24 Bounce = 0x004,
25 SoftERP = 0x008,
26 SoftCFM = 0x010,
27 Motion1 = 0x020,
28 Motion2 = 0x040,
29 Slip1 = 0x080,
30 Slip2 = 0x100,
31 Approx0 = 0x0000,
32 Approx1_1 = 0x1000,
33 Approx1_2 = 0x2000,
34 Approx1 = 0x3000
35 }
36
37 public enum GeomClassID : int
38 {
39 SphereClass,
40 BoxClass,
41 CapsuleClass,
42 CylinderClass,
43 PlaneClass,
44 RayClass,
45 ConvexClass,
46 GeomTransformClass,
47 TriMeshClass,
48 HeightfieldClass,
49 FirstSpaceClass,
50 SimpleSpaceClass = FirstSpaceClass,
51 HashSpaceClass,
52 QuadTreeSpaceClass,
53 LastSpaceClass = QuadTreeSpaceClass,
54 FirstUserClass,
55 LastUserClass = FirstUserClass + MaxUserClasses - 1,
56 NumClasses,
57 MaxUserClasses = 4
58 }
59
60 public enum JointType : int
61 {
62 None,
63 Ball,
64 Hinge,
65 Slider,
66 Contact,
67 Universal,
68 Hinge2,
69 Fixed,
70 Null,
71 AMotor,
72 LMotor,
73 Plane2D
74 }
75
76 public enum JointParam : int
77 {
78 LoStop,
79 HiStop,
80 Vel,
81 FMax,
82 FudgeFactor,
83 Bounce,
84 CFM,
85 StopERP,
86 StopCFM,
87 SuspensionERP,
88 SuspensionCFM,
89 LoStop2 = 256,
90 HiStop2,
91 Vel2,
92 FMax2,
93 FudgeFactor2,
94 Bounce2,
95 CFM2,
96 StopERP2,
97 StopCFM2,
98 SuspensionERP2,
99 SuspensionCFM2,
100 LoStop3 = 512,
101 HiStop3,
102 Vel3,
103 FMax3,
104 FudgeFactor3,
105 Bounce3,
106 CFM3,
107 StopERP3,
108 StopCFM3,
109 SuspensionERP3,
110 SuspensionCFM3
111 }
112
113 #endregion
114
115 #region Callbacks
116
117 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
118 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
119
120 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
121 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
122
123 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
124 public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
125
126 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
127 public delegate ColliderFn GetColliderFnFn(int num);
128
129 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
130 public delegate void GeomDtorFn(IntPtr o);
131
132 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
133 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
134
135 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
136 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
137
138 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
139 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
140
141 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
142 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
143
144 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
145 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
146
147 #endregion
148
149 #region Structs
150
151 [StructLayout(LayoutKind.Sequential)]
152 public struct AABB
153 {
154 public dReal MinX, MaxX;
155 public dReal MinY, MaxY;
156 public dReal MinZ, MaxZ;
157 }
158
159
160 [StructLayout(LayoutKind.Sequential)]
161 public struct Contact
162 {
163 public SurfaceParameters surface;
164 public ContactGeom geom;
165 public Vector3 fdir1;
166 }
167
168
169 [StructLayout(LayoutKind.Sequential)]
170 public struct ContactGeom
171 {
172 public static readonly int SizeOf = Marshal.SizeOf(typeof(ContactGeom));
173
174 public Vector3 pos;
175 public Vector3 normal;
176 public dReal depth;
177 public IntPtr g1;
178 public IntPtr g2;
179 public int side1;
180 public int side2;
181 }
182
183 [StructLayout(LayoutKind.Sequential)]
184 public struct GeomClass
185 {
186 public int bytes;
187 public GetColliderFnFn collider;
188 public GetAABBFn aabb;
189 public AABBTestFn aabb_test;
190 public GeomDtorFn dtor;
191 }
192
193
194 [StructLayout(LayoutKind.Sequential)]
195 public struct JointFeedback
196 {
197 public Vector3 f1;
198 public Vector3 t1;
199 public Vector3 f2;
200 public Vector3 t2;
201 }
202
203
204 [StructLayout(LayoutKind.Sequential)]
205 public struct Mass
206 {
207 public dReal mass;
208 public Vector4 c;
209 public Matrix3 I;
210 }
211
212
213 [StructLayout(LayoutKind.Sequential)]
214 public struct Matrix3
215 {
216 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
217 {
218 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
219 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
220 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
221 }
222 public dReal M00, M10, M20;
223 private dReal _m30;
224 public dReal M01, M11, M21;
225 private dReal _m31;
226 public dReal M02, M12, M22;
227 private dReal _m32;
228 }
229
230 [StructLayout(LayoutKind.Sequential)]
231 public struct Matrix4
232 {
233 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
234 dReal m01, dReal m11, dReal m21, dReal m31,
235 dReal m02, dReal m12, dReal m22, dReal m32,
236 dReal m03, dReal m13, dReal m23, dReal m33)
237 {
238 M00 = m00; M10 = m10; M20 = m20; M30 = m30;
239 M01 = m01; M11 = m11; M21 = m21; M31 = m31;
240 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
241 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
242 }
243 public dReal M00, M10, M20, M30;
244 public dReal M01, M11, M21, M31;
245 public dReal M02, M12, M22, M32;
246 public dReal M03, M13, M23, M33;
247 }
248
249 [StructLayout(LayoutKind.Sequential)]
250 public struct Quaternion
251 {
252 public dReal W, X, Y, Z;
253 }
254
255
256 [StructLayout(LayoutKind.Sequential)]
257 public struct SurfaceParameters
258 {
259 public ContactFlags mode;
260 public dReal mu;
261 public dReal mu2;
262 public dReal bounce;
263 public dReal bounce_vel;
264 public dReal soft_erp;
265 public dReal soft_cfm;
266 public dReal motion1;
267 public dReal motion2;
268 public dReal slip1;
269 public dReal slip2;
270 }
271
272
273 [StructLayout(LayoutKind.Sequential)]
274 public struct Vector3
275 {
276 public Vector3(dReal x, dReal y, dReal z)
277 {
278 X = x; Y = y; Z = z; _w = 0.0f;
279 }
280 public dReal X, Y, Z;
281 private dReal _w;
282 }
283
284
285 [StructLayout(LayoutKind.Sequential)]
286 public struct Vector4
287 {
288 public Vector4(dReal x, dReal y, dReal z, dReal w)
289 {
290 X = x; Y = y; Z = z; W = w;
291 }
292 public dReal X, Y, Z, W;
293 }
294
295 #endregion
296
297 [DllImport("ode", EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
298 public static extern bool AreConnected(IntPtr b1, IntPtr b2);
299
300 [DllImport("ode", EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
301 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
302
303 [DllImport("ode", EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
304 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
305
306 [DllImport("ode", EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
307 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
308
309 [DllImport("ode", EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
310 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
311
312 [DllImport("ode", EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
313 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
314
315 [DllImport("ode", EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
316 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
317
318 [DllImport("ode", EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
319 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
320
321 [DllImport("ode", EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
322 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
323
324 [DllImport("ode", EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
325 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
326
327 [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
328 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
329
330 [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
331 public static extern void BodyCopyPosition(IntPtr body, out dReal X);
332
333 [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
334 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
335
336 [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
337 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
338
339 [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
340 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
341
342 [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
343 public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
344
345 [DllImport("ode", EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
346 public static extern IntPtr BodyCreate(IntPtr world);
347
348 [DllImport("ode", EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
349 public static extern void BodyDestroy(IntPtr body);
350
351 [DllImport("ode", EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
352 public static extern void BodyDisable(IntPtr body);
353
354 [DllImport("ode", EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
355 public static extern void BodyEnable(IntPtr body);
356
357 [DllImport("ode", EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
358 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
359
360 [DllImport("ode", EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
361 public static extern bool BodyGetAutoDisableFlag(IntPtr body);
362
363 [DllImport("ode", EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
364 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
365
366 [DllImport("ode", EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
367 public static extern int BodyGetAutoDisableSteps(IntPtr body);
368
369 [DllImport("ode", EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
370 public static extern dReal BodyGetAutoDisableTime(IntPtr body);
371
372#if !dNO_UNSAFE_CODE
373 [CLSCompliant(false)]
374 [DllImport("ode", EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
375 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
376 public static Vector3 BodyGetAngularVel(IntPtr body)
377 {
378 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
379 }
380#endif
381
382 [DllImport("ode", EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
383 public static extern IntPtr BodyGetData(IntPtr body);
384
385 [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
386 public static extern int BodyGetFiniteRotationMode(IntPtr body);
387
388 [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
389 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
390
391#if !dNO_UNSAFE_CODE
392 [CLSCompliant(false)]
393 [DllImport("ode", EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
394 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
395 public static Vector3 BodyGetForce(IntPtr body)
396 {
397 unsafe { return *(BodyGetForceUnsafe(body)); }
398 }
399#endif
400
401 [DllImport("ode", EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
402 public static extern bool BodyGetGravityMode(IntPtr body);
403
404 [DllImport("ode", EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
405 public static extern IntPtr BodyGetJoint(IntPtr body, int index);
406
407#if !dNO_UNSAFE_CODE
408 [CLSCompliant(false)]
409 [DllImport("ode", EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
410 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
411 public static Vector3 BodyGetLinearVel(IntPtr body)
412 {
413 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
414 }
415#endif
416
417 [DllImport("ode", EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
418 public static extern void BodyGetMass(IntPtr body, out Mass mass);
419
420 [DllImport("ode", EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
421 public static extern int BodyGetNumJoints(IntPtr body);
422
423 [DllImport("ode", EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
424 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
425
426#if !dNO_UNSAFE_CODE
427 [CLSCompliant(false)]
428 [DllImport("ode", EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
429 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
430 public static Vector3 BodyGetPosition(IntPtr body)
431 {
432 unsafe { return *(BodyGetPositionUnsafe(body)); }
433 }
434#endif
435
436 [DllImport("ode", EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
437 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
438
439#if !dNO_UNSAFE_CODE
440 [CLSCompliant(false)]
441 [DllImport("ode", EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
442 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
443 public static Quaternion BodyGetQuaternion(IntPtr body)
444 {
445 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
446 }
447#endif
448
449 [DllImport("ode", EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
450 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
451
452 [DllImport("ode", EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
453 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
454
455#if !dNO_UNSAFE_CODE
456 [CLSCompliant(false)]
457 [DllImport("ode", EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
458 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
459 public static Matrix3 BodyGetRotation(IntPtr body)
460 {
461 unsafe { return *(BodyGetRotationUnsafe(body)); }
462 }
463#endif
464
465#if !dNO_UNSAFE_CODE
466 [CLSCompliant(false)]
467 [DllImport("ode", EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
468 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
469 public static Vector3 BodyGetTorque(IntPtr body)
470 {
471 unsafe { return *(BodyGetTorqueUnsafe(body)); }
472 }
473#endif
474
475 [DllImport("ode", EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
476 public static extern bool BodyIsEnabled(IntPtr body);
477
478 [DllImport("ode", EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
479 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
480
481 [DllImport("ode", EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
482 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
483
484 [DllImport("ode", EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
485 public static extern void BodySetAutoDisableDefaults(IntPtr body);
486
487 [DllImport("ode", EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
488 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
489
490 [DllImport("ode", EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
491 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
492
493 [DllImport("ode", EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
494 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
495
496 [DllImport("ode", EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
497 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
498
499 [DllImport("ode", EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
500 public static extern void BodySetData(IntPtr body, IntPtr data);
501
502 [DllImport("ode", EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
503 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
504
505 [DllImport("ode", EntryPoint = "dBodySetFiniteRotationModeAxis"), SuppressUnmanagedCodeSecurity]
506 public static extern void BodySetFiniteRotationModeAxis(IntPtr body, dReal x, dReal y, dReal z);
507
508 [DllImport("ode", EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
509 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
510
511 [DllImport("ode", EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
512 public static extern void BodySetGravityMode(IntPtr body, bool mode);
513
514 [DllImport("ode", EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
515 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
516
517 [DllImport("ode", EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
518 public static extern void BodySetMass(IntPtr body, ref Mass mass);
519
520 [DllImport("ode", EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
521 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
522
523 [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
524 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
525
526 [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
527 public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
528
529 [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
530 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
531
532 [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
533 public static extern void BodySetRotation(IntPtr body, ref dReal M00);
534
535 [DllImport("ode", EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
536 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
537
538 [DllImport("ode", EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
539 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
540
541 [DllImport("ode", EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
542 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
543
544 [DllImport("ode", EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
545 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
546 ref Vector3 side1, ref Vector3 p2,
547 ref Matrix3 R2, ref Vector3 side2,
548 ref Vector3 normal, out dReal depth, out int return_code,
549 int maxc, out ContactGeom contact, int skip);
550
551 [DllImport("ode", EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
552 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
553 ref Vector3 side1, ref Vector3 _p2,
554 ref Matrix3 R2, ref Vector3 side2);
555
556 [DllImport("ode", EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
557 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
558 ref Vector3 b1, ref Vector3 b2,
559 ref Vector3 cp1, ref Vector3 cp2);
560
561 [DllImport("ode", EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
562 public static extern void CloseODE();
563
564 [DllImport("ode", EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
565 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
566
567 [DllImport("ode", EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
568 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
569
570 [DllImport("ode", EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
571 public static extern IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz);
572
573 [DllImport("ode", EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
574 public static extern IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length);
575
576 [DllImport("ode", EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
577 public static extern IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
578
579 [DllImport("ode", EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
580 public static extern IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length);
581
582 [DllImport("ode", EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
583 public static extern IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable);
584
585 [DllImport("ode", EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
586 public static extern IntPtr CreateGeom(int classnum);
587
588 [DllImport("ode", EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
589 public static extern int CreateGeomClass(ref GeomClass classptr);
590
591 [DllImport("ode", EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
592 public static extern IntPtr CreateGeomTransform(IntPtr space);
593
594 [DllImport("ode", EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
595 public static extern IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
596
597 [DllImport("ode", EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
598 public static extern IntPtr CreateRay(IntPtr space, dReal length);
599
600 [DllImport("ode", EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
601 public static extern IntPtr CreateSphere(IntPtr space, dReal radius);
602
603 [DllImport("ode", EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
604 public static extern IntPtr CreateTriMesh(IntPtr space, IntPtr data,
605 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
606
607 [DllImport("ode", EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
608 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
609
610 [DllImport("ode", EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
611 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
612
613 [DllImport("ode", EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
614 public static extern int FactorCholesky(ref dReal A00, int n);
615
616 [DllImport("ode", EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
617 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
618
619 [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
620 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
621
622 [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
623 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
624
625 [DllImport("ode", EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
626 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
627
628 [DllImport("ode", EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
629 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
630
631 [DllImport("ode", EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
632 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
633
634 [DllImport("ode", EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
635 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
636
637 [DllImport("ode", EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
638 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
639
640 [DllImport("ode", EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
641 public static extern void GeomClearOffset(IntPtr geom);
642
643 [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
644 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
645
646 [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
647 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
648
649 [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
650 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
651
652 [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
653 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
654
655 [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
656 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
657
658 [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
659 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
660
661 [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
662 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
663
664 [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
665 public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
666
667 [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
668 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
669
670 [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
671 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
672
673 [DllImport("ode", EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
674 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
675
676 [DllImport("ode", EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
677 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
678
679 [DllImport("ode", EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
680 public static extern void GeomDestroy(IntPtr geom);
681
682 [DllImport("ode", EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
683 public static extern void GeomDisable(IntPtr geom);
684
685 [DllImport("ode", EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
686 public static extern void GeomEnable(IntPtr geom);
687
688 [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
689 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
690
691 [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
692 public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
693
694 [DllImport("ode", EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
695 public static extern IntPtr GeomGetBody(IntPtr geom);
696
697 [DllImport("ode", EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
698 public static extern int GeomGetCategoryBits(IntPtr geom);
699
700 [DllImport("ode", EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
701 public static extern IntPtr GeomGetClassData(IntPtr geom);
702
703 [DllImport("ode", EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
704 public static extern int GeomGetCollideBits(IntPtr geom);
705
706 [DllImport("ode", EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
707 public static extern GeomClassID GeomGetClass(IntPtr geom);
708
709 [DllImport("ode", EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
710 public static extern IntPtr GeomGetData(IntPtr geom);
711
712#if !dNO_UNSAFE_CODE
713 [CLSCompliant(false)]
714 [DllImport("ode", EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
715 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
716 public static Vector3 GeomGetOffsetPosition(IntPtr geom)
717 {
718 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
719 }
720#endif
721
722#if !dNO_UNSAFE_CODE
723 [CLSCompliant(false)]
724 [DllImport("ode", EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
725 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
726 public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
727 {
728 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
729 }
730#endif
731
732#if !dNO_UNSAFE_CODE
733 [CLSCompliant(false)]
734 [DllImport("ode", EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
735 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
736 public static Vector3 GeomGetPosition(IntPtr geom)
737 {
738 unsafe { return *(GeomGetPositionUnsafe(geom)); }
739 }
740#endif
741
742 [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
743 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
744
745 [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
746 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
747
748#if !dNO_UNSAFE_CODE
749 [CLSCompliant(false)]
750 [DllImport("ode", EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
751 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
752 public static Matrix3 GeomGetRotation(IntPtr geom)
753 {
754 unsafe { return *(GeomGetRotationUnsafe(geom)); }
755 }
756#endif
757
758 [DllImport("ode", EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
759 public static extern IntPtr GeomGetSpace(IntPtr geom);
760
761 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
762 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
763 dReal width, dReal depth, int widthSamples, int depthSamples,
764 dReal scale, dReal offset, dReal thickness, int bWrap);
765
766 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
767 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
768 dReal width, dReal depth, int widthSamples, int depthSamples,
769 dReal scale, dReal offset, dReal thickness, int bWrap);
770
771 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
772 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
773 dReal width, dReal depth, int widthSamples, int depthSamples,
774 dReal scale, dReal offset, dReal thickness, int bWrap);
775
776 [CLSCompliant(false)]
777 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
778 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
779 dReal width, dReal depth, int widthSamples, int depthSamples,
780 dReal scale, dReal offset, dReal thickness, int bWrap);
781
782 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
783 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
784 dReal width, dReal depth, int widthSamples, int depthSamples,
785 dReal scale, dReal offset, dReal thickness, int bWrap);
786
787 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
788 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
789 dReal width, dReal depth, int widthSamples, int depthSamples,
790 dReal scale, dReal offset, dReal thickness, int bWrap);
791
792 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
793 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
794 dReal width, dReal depth, int widthSamples, int depthSamples,
795 dReal scale, dReal offset, dReal thickness, int bWrap);
796
797 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
798 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
799 dReal width, dReal depth, int widthSamples, int depthSamples,
800 dReal scale, dReal offset, dReal thickness, int bWrap);
801
802 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
803 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
804 dReal width, dReal depth, int widthSamples, int depthSamples,
805 dReal scale, dReal offset, dReal thickness, int bWrap);
806
807 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
808 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
809 dReal width, dReal depth, int widthSamples, int depthSamples,
810 dReal scale, dReal offset, dReal thickness, int bWrap);
811
812 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
813 public static extern IntPtr GeomHeightfieldDataCreate();
814
815 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
816 public static extern void GeomHeightfieldDataDestroy(IntPtr d);
817
818 [DllImport("ode", EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
819 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
820
821 [DllImport("ode", EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
822 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
823
824 [DllImport("ode", EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
825 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
826
827 [DllImport("ode", EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
828 public static extern bool GeomIsEnabled(IntPtr geom);
829
830 [DllImport("ode", EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
831 public static extern bool GeomIsOffset(IntPtr geom);
832
833 [DllImport("ode", EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
834 public static extern bool GeomIsSpace(IntPtr geom);
835
836 [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
837 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
838
839 [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
840 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
841
842 [DllImport("ode", EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
843 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
844
845 [DllImport("ode", EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
846 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
847
848 [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
849 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
850
851 [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
852 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
853
854 [DllImport("ode", EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
855 public static extern int GeomRayGetClosestHit(IntPtr ray);
856
857 [DllImport("ode", EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
858 public static extern dReal GeomRayGetLength(IntPtr ray);
859
860 [DllImport("ode", EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
861 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
862
863 [DllImport("ode", EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
864 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
865
866 [DllImport("ode", EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
867 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
868
869 [DllImport("ode", EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
870 public static extern void GeomRaySetLength(IntPtr ray, dReal length);
871
872 [DllImport("ode", EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
873 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
874
875 [DllImport("ode", EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
876 public static extern void GeomSetBody(IntPtr geom, IntPtr body);
877
878 [DllImport("ode", EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
879 public static extern void GeomSetCategoryBits(IntPtr geom, int bits);
880
881 [DllImport("ode", EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
882 public static extern void GeomSetCollideBits(IntPtr geom, int bits);
883
884 [DllImport("ode", EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
885 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
886
887 [DllImport("ode", EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
888 public static extern void GeomSetData(IntPtr geom, IntPtr data);
889
890 [DllImport("ode", EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
891 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
892
893 [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
894 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
895
896 [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
897 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
898
899 [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
900 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
901
902 [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
903 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
904
905 [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
906 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
907
908 [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
909 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
910
911 [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
912 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
913
914 [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
915 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
916
917 [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
918 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
919
920 [DllImport("ode", EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
921 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
922
923 [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
924 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
925
926 [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
927 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
928
929 [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
930 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
931
932 [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
933 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
934
935 [DllImport("ode", EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
936 public static extern dReal GeomSphereGetRadius(IntPtr geom);
937
938 [DllImport("ode", EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
939 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
940
941 [DllImport("ode", EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
942 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
943
944 [DllImport("ode", EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
945 public static extern int GeomTransformGetCleanup(IntPtr geom);
946
947 [DllImport("ode", EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
948 public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
949
950 [DllImport("ode", EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
951 public static extern int GeomTransformGetInfo(IntPtr geom);
952
953 [DllImport("ode", EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
954 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
955
956 [DllImport("ode", EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
957 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
958
959 [DllImport("ode", EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
960 public static extern void GeomTransformSetInfo(IntPtr geom, int info);
961
962 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
963 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
964 double[] vertices, int vertexStride, int vertexCount,
965 int[] indices, int indexCount, int triStride);
966
967 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
968 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
969 IntPtr vertices, int vertexStride, int vertexCount,
970 IntPtr indices, int indexCount, int triStride);
971
972 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
973 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
974 double[] vertices, int vertexStride, int vertexCount,
975 int[] indices, int indexCount, int triStride,
976 double[] normals);
977
978 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
979 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
980 IntPtr vertices, int vertexStride, int vertexCount,
981 IntPtr indices, int indexCount, int triStride,
982 IntPtr normals);
983
984 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
985 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
986 dReal[] vertices, int vertexStride, int vertexCount,
987 int[] indices, int indexCount, int triStride);
988
989 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
990 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
991 IntPtr vertices, int vertexStride, int vertexCount,
992 IntPtr indices, int indexCount, int triStride);
993
994 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
995 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
996 dReal[] vertices, int vertexStride, int vertexCount,
997 int[] indices, int indexCount, int triStride,
998 dReal[] normals);
999
1000 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1001 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1002 IntPtr vertices, int vertexStride, int vertexCount,
1003 IntPtr indices, int indexCount, int triStride,
1004 IntPtr normals);
1005
1006 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1007 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1008 float[] vertices, int vertexStride, int vertexCount,
1009 int[] indices, int indexCount, int triStride);
1010
1011 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1012 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1013 IntPtr vertices, int vertexStride, int vertexCount,
1014 IntPtr indices, int indexCount, int triStride);
1015
1016 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1017 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1018 float[] vertices, int vertexStride, int vertexCount,
1019 int[] indices, int indexCount, int triStride,
1020 float[] normals);
1021
1022 [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1023 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1024 IntPtr vertices, int vertexStride, int vertexCount,
1025 IntPtr indices, int indexCount, int triStride,
1026 IntPtr normals);
1027
1028 [DllImport("ode", EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1029 public static extern void GeomTriMeshClearTCCache(IntPtr g);
1030
1031 [DllImport("ode", EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1032 public static extern IntPtr GeomTriMeshDataCreate();
1033
1034 [DllImport("ode", EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1035 public static extern void GeomTriMeshDataDestroy(IntPtr d);
1036
1037 [DllImport("ode", EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1038 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1039
1040 [DllImport("ode", EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1041 public static extern void GeomTriMeshDataPreprocess(IntPtr d);
1042
1043 [DllImport("ode", EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1044 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1045
1046 [DllImport("ode", EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1047 public static extern void GeomTriMeshDataUpdate(IntPtr d);
1048
1049 [DllImport("ode", EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1050 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1051
1052 [DllImport("ode", EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1053 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1054
1055 [DllImport("ode", EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1056 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1057
1058 [DllImport("ode", EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1059 public static extern IntPtr GeomTriMeshGetData(IntPtr g);
1060
1061#if !dNO_UNSAFE_CODE
1062 [CLSCompliant(false)]
1063 [DllImport("ode", EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1064 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1065 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1066 {
1067 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1068 }
1069#endif
1070
1071 [DllImport("ode", EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1072 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1073
1074 [DllImport("ode", EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1075 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1076
1077 [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1078 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1079
1080 [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1081 public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1082
1083 [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1084 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1085
1086 [DllImport("ode", EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1087 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1088
1089 [DllImport("ode", EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1090 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1091
1092 [DllImport("ode", EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1093 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1094
1095 [DllImport("ode", EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1096 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1097
1098 [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1099 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1100
1101 [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1102 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1103
1104 [DllImport("ode", EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1105 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
1106
1107 [DllImport("ode", EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1108 public static extern IntPtr HashSpaceCreate(IntPtr space);
1109
1110 [DllImport("ode", EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1111 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1112
1113 [DllImport("ode", EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1114 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1115
1116 [DllImport("ode", EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1117 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1118
1119 [DllImport("ode", EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1120 public static extern void InitODE();
1121
1122 [DllImport("ode", EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1123 public static extern int IsPositiveDefinite(ref dReal A, int n);
1124
1125 [DllImport("ode", EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1126 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1127
1128 [DllImport("ode", EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1129 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1130
1131 [DllImport("ode", EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1132 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1133
1134 [DllImport("ode", EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1135 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1136
1137 [DllImport("ode", EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1138 public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1139
1140 [DllImport("ode", EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1141 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1142
1143 [DllImport("ode", EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1144 public static extern void JointAddSliderForce(IntPtr joint, dReal force);
1145
1146 [DllImport("ode", EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1147 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1148
1149 [DllImport("ode", EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1150 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1151
1152 [DllImport("ode", EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1153 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1154
1155 [DllImport("ode", EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1156 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1157
1158 [DllImport("ode", EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1159 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1160
1161 [DllImport("ode", EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1162 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1163
1164 [DllImport("ode", EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1165 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1166
1167 [DllImport("ode", EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1168 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1169
1170 [DllImport("ode", EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1171 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1172
1173 [DllImport("ode", EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1174 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1175
1176 [DllImport("ode", EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1177 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1178
1179 [DllImport("ode", EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1180 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1181
1182 [DllImport("ode", EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1183 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1184
1185 [DllImport("ode", EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1186 public static extern void JointDestroy(IntPtr j);
1187
1188 [DllImport("ode", EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1189 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1190
1191 [DllImport("ode", EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1192 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1193
1194 [DllImport("ode", EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1195 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1196
1197 [DllImport("ode", EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1198 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1199
1200 [DllImport("ode", EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1201 public static extern int JointGetAMotorMode(IntPtr j);
1202
1203 [DllImport("ode", EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1204 public static extern int JointGetAMotorNumAxes(IntPtr j);
1205
1206 [DllImport("ode", EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1207 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1208
1209 [DllImport("ode", EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1210 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1211
1212 [DllImport("ode", EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1213 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1214
1215 [DllImport("ode", EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1216 public static extern IntPtr JointGetBody(IntPtr j);
1217
1218 [DllImport("ode", EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1219 public static extern IntPtr JointGetData(IntPtr j);
1220
1221#if !dNO_UNSAFE_CODE
1222 [CLSCompliant(false)]
1223 [DllImport("ode", EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1224 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1225 public static JointFeedback JointGetFeedback(IntPtr j)
1226 {
1227 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1228 }
1229#endif
1230
1231 [DllImport("ode", EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1232 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1233
1234 [DllImport("ode", EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1235 public static extern dReal JointGetHingeAngle(IntPtr j);
1236
1237 [DllImport("ode", EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1238 public static extern dReal JointGetHingeAngleRate(IntPtr j);
1239
1240 [DllImport("ode", EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1241 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1242
1243 [DllImport("ode", EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1244 public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1245
1246 [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1247 public static extern dReal JointGetHinge2Angle1(IntPtr j);
1248
1249 [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1250 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1251
1252 [DllImport("ode", EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1253 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1254
1255 [DllImport("ode", EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1256 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1257
1258 [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1259 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1260
1261 [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1262 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1263
1264 [DllImport("ode", EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1265 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1266
1267 [DllImport("ode", EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1268 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1269
1270 [DllImport("ode", EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1271 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1272
1273 [DllImport("ode", EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1274 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1275
1276 [DllImport("ode", EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1277 public static extern int JointGetLMotorNumAxes(IntPtr j);
1278
1279 [DllImport("ode", EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1280 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1281
1282 [DllImport("ode", EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1283 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1284
1285 [DllImport("ode", EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1286 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1287
1288 [DllImport("ode", EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1289 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1290
1291 [DllImport("ode", EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1292 public static extern dReal JointGetPRParam(IntPtr j, int parameter);
1293
1294 [DllImport("ode", EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1295 public static extern dReal JointGetPRPosition(IntPtr j);
1296
1297 [DllImport("ode", EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1298 public static extern dReal JointGetPRPositionRate(IntPtr j);
1299
1300 [DllImport("ode", EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1301 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1302
1303 [DllImport("ode", EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1304 public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1305
1306 [DllImport("ode", EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1307 public static extern dReal JointGetSliderPosition(IntPtr j);
1308
1309 [DllImport("ode", EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1310 public static extern dReal JointGetSliderPositionRate(IntPtr j);
1311
1312 [DllImport("ode", EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1313 public static extern JointType JointGetType(IntPtr j);
1314
1315 [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1316 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1317
1318 [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1319 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1320
1321 [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1322 public static extern dReal JointGetUniversalAngle1(IntPtr j);
1323
1324 [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1325 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1326
1327 [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1328 public static extern dReal JointGetUniversalAngle2(IntPtr j);
1329
1330 [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1331 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1332
1333 [DllImport("ode", EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1334 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1335
1336 [DllImport("ode", EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1337 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1338
1339 [DllImport("ode", EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1340 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1341
1342 [DllImport("ode", EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1343 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1344
1345 [DllImport("ode", EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1346 public static extern IntPtr JointGroupCreate(int max_size);
1347
1348 [DllImport("ode", EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1349 public static extern void JointGroupDestroy(IntPtr group);
1350
1351 [DllImport("ode", EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1352 public static extern void JointGroupEmpty(IntPtr group);
1353
1354 [DllImport("ode", EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1355 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1356
1357 [DllImport("ode", EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1358 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1359
1360 [DllImport("ode", EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1361 public static extern void JointSetAMotorMode(IntPtr j, int mode);
1362
1363 [DllImport("ode", EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1364 public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1365
1366 [DllImport("ode", EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1367 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1368
1369 [DllImport("ode", EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1370 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1371
1372 [DllImport("ode", EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1373 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1374
1375 [DllImport("ode", EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1376 public static extern void JointSetData(IntPtr j, IntPtr data);
1377
1378 [DllImport("ode", EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1379 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1380
1381 [DllImport("ode", EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1382 public static extern void JointSetFixed(IntPtr j);
1383
1384 [DllImport("ode", EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1385 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1386
1387 [DllImport("ode", EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1388 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1389
1390 [DllImport("ode", EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1391 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1392
1393 [DllImport("ode", EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1394 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1395
1396 [DllImport("ode", EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1397 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1398
1399 [DllImport("ode", EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1400 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1401
1402 [DllImport("ode", EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1403 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1404
1405 [DllImport("ode", EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1406 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1407
1408 [DllImport("ode", EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1409 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1410
1411 [DllImport("ode", EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1412 public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1413
1414 [DllImport("ode", EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1415 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1416
1417 [DllImport("ode", EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1418 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1419
1420 [DllImport("ode", EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1421 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1422
1423 [DllImport("ode", EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1424 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1425
1426 [DllImport("ode", EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1427 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1428
1429 [DllImport("ode", EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1430 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1431
1432 [DllImport("ode", EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1433 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1434
1435 [DllImport("ode", EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1436 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1437
1438 [DllImport("ode", EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1439 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1440
1441 [DllImport("ode", EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1442 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1443
1444 [DllImport("ode", EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1445 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1446
1447 [DllImport("ode", EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1448 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1449
1450 [DllImport("ode", EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1451 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1452
1453 [DllImport("ode", EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1454 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1455
1456 [DllImport("ode", EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1457 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1458
1459 [DllImport("ode", EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1460 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1461
1462 [DllImport("ode", EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1463 public static extern void MassAdd(ref Mass a, ref Mass b);
1464
1465 [DllImport("ode", EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1466 public static extern void MassAdjust(ref Mass m, dReal newmass);
1467
1468 [DllImport("ode", EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1469 public static extern bool MassCheck(ref Mass m);
1470
1471 [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1472 public static extern void MassRotate(out Mass mass, ref Matrix3 R);
1473
1474 [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1475 public static extern void MassRotate(out Mass mass, ref dReal M00);
1476
1477 [DllImport("ode", EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1478 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1479
1480 [DllImport("ode", EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1481 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1482
1483 [DllImport("ode", EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1484 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1485
1486 [DllImport("ode", EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1487 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1488
1489 [DllImport("ode", EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1490 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1491
1492 [DllImport("ode", EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1493 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1494
1495 [DllImport("ode", EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1496 public static extern void MassSetParameters(out Mass mass, dReal themass,
1497 dReal cgx, dReal cgy, dReal cgz,
1498 dReal i11, dReal i22, dReal i33,
1499 dReal i12, dReal i13, dReal i23);
1500
1501 [DllImport("ode", EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1502 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1503
1504 [DllImport("ode", EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1505 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1506
1507 [DllImport("ode", EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1508 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1509
1510 [DllImport("ode", EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1511 public static extern void MassSetZero(out Mass mass);
1512
1513 [DllImport("ode", EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1514 public static extern void MassTranslate(out Mass mass, dReal x, dReal y, dReal z);
1515
1516 [DllImport("ode", EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1517 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1518
1519 [DllImport("ode", EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1520 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1521
1522 [DllImport("ode", EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1523 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1524
1525 [DllImport("ode", EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1526 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1527
1528 [DllImport("ode", EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1529 public static extern void QfromR(out Quaternion q, ref Matrix3 R);
1530
1531 [DllImport("ode", EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1532 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1533
1534 [DllImport("ode", EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1535 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1536
1537 [DllImport("ode", EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1538 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1539
1540 [DllImport("ode", EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1541 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1542
1543 [DllImport("ode", EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1544 public static extern void QSetIdentity(out Quaternion q);
1545
1546 [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1547 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1548
1549 [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1550 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1551
1552 [DllImport("ode", EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1553 public static extern dReal RandReal();
1554
1555 [DllImport("ode", EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1556 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1557
1558 [DllImport("ode", EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1559 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1560
1561 [DllImport("ode", EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1562 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1563
1564 [DllImport("ode", EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1565 public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1566
1567 [DllImport("ode", EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1568 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1569
1570 [DllImport("ode", EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1571 public static extern void RSetIdentity(out Matrix3 R);
1572
1573 [DllImport("ode", EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1574 public static extern void SetValue(out dReal a, int n);
1575
1576 [DllImport("ode", EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1577 public static extern void SetZero(out dReal a, int n);
1578
1579 [DllImport("ode", EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1580 public static extern IntPtr SimpleSpaceCreate(IntPtr space);
1581
1582 [DllImport("ode", EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1583 public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1584
1585 [DllImport("ode", EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1586 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1587
1588 [DllImport("ode", EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1589 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1590
1591 [DllImport("ode", EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1592 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1593
1594 [DllImport("ode", EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1595 public static extern void SpaceAdd(IntPtr space, IntPtr geom);
1596
1597 [DllImport("ode", EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1598 public static extern void SpaceClean(IntPtr space);
1599
1600 [DllImport("ode", EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1601 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1602
1603 [DllImport("ode", EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1604 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1605
1606 [DllImport("ode", EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1607 public static extern void SpaceDestroy(IntPtr space);
1608
1609 [DllImport("ode", EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1610 public static extern bool SpaceGetCleanup(IntPtr space);
1611
1612 [DllImport("ode", EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1613 public static extern int SpaceGetNumGeoms(IntPtr space);
1614
1615 [DllImport("ode", EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1616 public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1617
1618 [DllImport("ode", EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1619 public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1620
1621 [DllImport("ode", EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1622 public static extern void SpaceRemove(IntPtr space, IntPtr geom);
1623
1624 [DllImport("ode", EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1625 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
1626
1627 [DllImport("ode", EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1628 public static extern void VectorScale(out dReal a, ref dReal d, int n);
1629
1630 [DllImport("ode", EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1631 public static extern IntPtr WorldCreate();
1632
1633 [DllImport("ode", EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1634 public static extern void WorldDestroy(IntPtr world);
1635
1636 [DllImport("ode", EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1637 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1638
1639 [DllImport("ode", EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1640 public static extern bool WorldGetAutoDisableFlag(IntPtr world);
1641
1642 [DllImport("ode", EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1643 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1644
1645 [DllImport("ode", EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1646 public static extern int WorldGetAutoDisableSteps(IntPtr world);
1647
1648 [DllImport("ode", EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1649 public static extern dReal WorldGetAutoDisableTime(IntPtr world);
1650
1651 [DllImport("ode", EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1652 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1653
1654 [DllImport("ode", EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1655 public static extern dReal WorldGetCFM(IntPtr world);
1656
1657 [DllImport("ode", EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1658 public static extern dReal WorldGetERP(IntPtr world);
1659
1660 [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1661 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1662
1663 [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1664 public static extern void WorldGetGravity(IntPtr world, out dReal X);
1665
1666 [DllImport("ode", EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1667 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1668
1669 [DllImport("ode", EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1670 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1671
1672 [DllImport("ode", EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1673 public static extern int WorldGetQuickStepNumIterations(IntPtr world);
1674
1675 [DllImport("ode", EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1676 public static extern dReal WorldGetQuickStepW(IntPtr world);
1677
1678 [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1679 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1680
1681 [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1682 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1683
1684 [DllImport("ode", EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1685 public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1686
1687 [DllImport("ode", EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1688 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1689
1690 [DllImport("ode", EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1691 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1692
1693 [DllImport("ode", EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1694 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1695
1696 [DllImport("ode", EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1697 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1698
1699 [DllImport("ode", EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1700 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1701
1702 [DllImport("ode", EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1703 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1704
1705 [DllImport("ode", EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1706 public static extern void WorldSetCFM(IntPtr world, dReal cfm);
1707
1708 [DllImport("ode", EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1709 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1710
1711 [DllImport("ode", EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1712 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1713
1714 [DllImport("ode", EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1715 public static extern void WorldSetERP(IntPtr world, dReal erp);
1716
1717 [DllImport("ode", EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1718 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1719
1720 [DllImport("ode", EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1721 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
1722
1723 [DllImport("ode", EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
1724 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
1725
1726 [DllImport("ode", EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
1727 public static extern void WorldStep(IntPtr world, dReal stepsize);
1728
1729 [DllImport("ode", EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
1730 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
1731 }
1732}
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua b/libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua
new file mode 100644
index 0000000..b53d54c
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua
@@ -0,0 +1,31 @@
1package.name = "Ode.NET"
2package.kind = "dll"
3package.language = "c#"
4
5-- Build options
6
7 package.defines = { }
8
9 if (options["with-doubles"]) then
10 table.insert(package.defines, "dDOUBLE")
11 else
12 table.insert(package.defines, "dSINGLE")
13 end
14
15 if (options["no-unsafe"]) then
16 table.insert(package.defines, "dNO_UNSAFE_CODE")
17 else
18 package.buildflags = { "unsafe" }
19 end
20
21
22-- Files & Libraries
23
24 package.files = {
25 "AssemblyInfo.cs",
26 "Ode.cs"
27 }
28
29 package.links = {
30 "System"
31 }
diff --git a/libraries/ode-0.9/contrib/Ode.NET/README.TXT b/libraries/ode-0.9/contrib/Ode.NET/README.TXT
new file mode 100644
index 0000000..e6f1262
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/README.TXT
@@ -0,0 +1,73 @@
1Ode.NET - .NET bindings for ODE
2Jason Perkins (starkos@gmail.com)
3
4 THIS IS A WORK IN PROGRESS! I'm not done yet!
5
6
7---------------------------------------------------------------------
8 INSTALLATION
9---------------------------------------------------------------------
10
11 Note that this binding uses a C# 2.0 feature (the
12 UnmanagedFunctionPointer attribute). You will need to use
13 Visual Studio 2005 (C# Express is fine) or Mono's gmcs
14 compiler.
15
16 Start by getting or building ODE as a shared library (DLL).
17
18 The simplest way to build the bindings is probably to create a
19 new library assembly in your tool of choice and drop in the files
20 Ode/Ode.cs and Ode/AssemblyInfo.cs. Define the symbol`dDOUBLE` if
21 you used double-precision math in your ode.dll. Build, done.
22
23 For testing purposes, I have also created bindings for the
24 Drawstuff library and a C# version of the BoxStack demo. You can
25 throw all of these files into a console executable and run it to
26 see the demo.
27
28 If you happen to have Premake installed (http://premake.sf.net/),
29 you can generate build scripts for the library with:
30
31 premake --target (toolset) # for single precision
32 premake --with-doubles --target (toolset) # for double precision
33
34 To build the test application too, use:
35
36 premake --with-tests --target (toolset)
37
38 To build with Mono, you must add the --dotnet parameter to enable
39 support .NET 2.0:
40
41 premake --dotnet mono2 --target gnu
42
43
44---------------------------------------------------------------------
45 USAGE
46---------------------------------------------------------------------
47
48 I have tried to keep things as close to the original C API as I can,
49 rather than forcing a class structure on everyone. Everything is
50 contained within the `Ode.NET` namespace inside a static class
51 named `d`. All ODE IDs are replaced with IntPtrs. A quick example:
52
53 using Ode.NET;
54
55 IntPtr world = d.WorldCreate();
56 IntPtr body = d.BodyCreate(world);
57
58 Take a look at Tests/BoxStack.cs for a more complete example.
59
60
61---------------------------------------------------------------------
62 KNOWN ISSUES
63---------------------------------------------------------------------
64
65 I'm not done yet, so many functions are still missing.
66
67 It is not possible to implement dBodyGetPosition(), dBodyGetRotation(),
68 etc. without resorting to unsafe code, which I was trying to avoid.
69 This binding uses the .NET friendly dBodyCopyPosition(),
70 dBodyCopyRotation(), etc. instead.
71
72 Collision response (contact joints) do not work when built under
73 Mono as double-precision. I have not tried to track down why.
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs b/libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs
new file mode 100644
index 0000000..1077124
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs
@@ -0,0 +1,260 @@
1using System;
2using System.Collections.Generic;
3using Drawstuff.NET;
4
5namespace Ode.NET
6{
7#if dDOUBLE
8 using dReal = System.Double;
9#else
10 using dReal = System.Single;
11#endif
12
13 public class TestBoxStack
14 {
15 #region Description of convex shape
16
17 static dReal[] planes =
18 {
19 1.0f, 0.0f, 0.0f, 0.25f,
20 0.0f, 1.0f, 0.0f, 0.25f,
21 0.0f, 0.0f, 1.0f, 0.25f,
22 0.0f, 0.0f, -1.0f, 0.25f,
23 0.0f, -1.0f, 0.0f, 0.25f,
24 -1.0f, 0.0f , 0.0f, 0.25f
25 };
26
27 static dReal[] points =
28 {
29 0.25f, 0.25f, 0.25f,
30 -0.25f, 0.25f, 0.25f,
31 0.25f, -0.25f, 0.25f,
32 -0.25f, -0.25f, 0.25f,
33 0.25f, 0.25f, -0.25f,
34 -0.25f,0.25f,-0.25f,
35 0.25f,-0.25f,-0.25f,
36 -0.25f,-0.25f,-0.25f,
37 };
38
39 static int[] polygons =
40 {
41 4, 0, 2, 6, 4,
42 4, 1, 0, 4, 5,
43 4, 0, 1, 3, 2,
44 4, 3, 1, 5, 7,
45 4, 2, 3, 7, 6,
46 4, 5, 4, 6, 7,
47 };
48
49 #endregion
50
51 const int NUM = 100;
52 const float DENSITY = 5.0f;
53 const int MAX_CONTACTS = 8;
54
55 static IntPtr world;
56 static IntPtr space;
57 static IntPtr contactgroup;
58
59 static Queue<IntPtr> obj = new Queue<IntPtr>();
60
61 static d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f);
62 static d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
63
64 static d.NearCallback nearCallback = near;
65 static d.ContactGeom[] contacts = new d.ContactGeom[MAX_CONTACTS];
66 static d.Contact contact;
67
68
69 // Called when window is opened - sets up viewpoint and prints usage
70 static void start(int unused)
71 {
72 ds.SetViewpoint(ref xyz, ref hpr);
73 Console.WriteLine("To drop another object, press:");
74 Console.WriteLine(" b for box.");
75 Console.WriteLine(" s for sphere.");
76 Console.WriteLine(" c for capsule.");
77 Console.WriteLine(" y for cylinder.");
78 Console.WriteLine(" v for a convex object.");
79 Console.WriteLine(" x for a composite object.");
80 Console.WriteLine("To select an object, press space.");
81 Console.WriteLine("To disable the selected object, press d.");
82 Console.WriteLine("To enable the selected object, press e.");
83 Console.WriteLine("To toggle showing the geom AABBs, press a.");
84 Console.WriteLine("To toggle showing the contact points, press t.");
85 Console.WriteLine("To toggle dropping from random position/orientation, press r.");
86 Console.WriteLine("To save the current state to 'state.dif', press 1.");
87 }
88
89
90 // Near callback - creates contact joints
91 static void near(IntPtr space, IntPtr g1, IntPtr g2)
92 {
93 IntPtr b1 = d.GeomGetBody(g1);
94 IntPtr b2 = d.GeomGetBody(g2);
95 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
96 return;
97
98 int count = d.Collide(g1, g2, MAX_CONTACTS, contacts, d.ContactGeom.SizeOf);
99 for (int i = 0; i < count; ++i)
100 {
101 contact.geom = contacts[i];
102 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
103 d.JointAttach(joint, b1, b2);
104 }
105 }
106
107
108 // Adds a new object to the scene - attaches a body to the geom and
109 // sets the initial position and orientation
110 static void addObject(IntPtr geom, d.Mass mass)
111 {
112 // Create a body for this object
113 IntPtr body = d.BodyCreate(world);
114 d.GeomSetBody(geom, body);
115 d.BodySetMass(body, ref mass);
116 obj.Enqueue(geom);
117
118 // Set the position of the new object
119 d.Matrix3 R;
120 d.BodySetPosition(body, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() + 2);
121 d.RFromAxisAndAngle(out R, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 10 - 5);
122 d.BodySetRotation(body, ref R);
123
124 // Cap the total number of objects
125 if (obj.Count > NUM)
126 {
127 geom = obj.Dequeue();
128 body = d.GeomGetBody(geom);
129 d.BodyDestroy(body);
130 d.GeomDestroy(geom);
131 }
132 }
133
134
135 // Keyboard callback
136 static void command(int cmd)
137 {
138 IntPtr geom;
139 d.Mass mass;
140 d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
141
142 Char ch = Char.ToLower((Char)cmd);
143 switch ((Char)ch)
144 {
145 case 'b':
146 d.MassSetBox(out mass, DENSITY, sides.X, sides.Y, sides.Z);
147 geom = d.CreateBox(space, sides.X, sides.Y, sides.Z);
148 addObject(geom, mass);
149 break;
150
151 case 'c':
152 sides.X *= 0.5f;
153 d.MassSetCapsule(out mass, DENSITY, 3, sides.X, sides.Y);
154 geom = d.CreateCapsule(space, sides.X, sides.Y);
155 addObject(geom, mass);
156 break;
157
158 case 'v':
159 d.MassSetBox(out mass, DENSITY, 0.25f, 0.25f, 0.25f);
160 geom = d.CreateConvex(space, planes, planes.Length / 4, points, points.Length / 3, polygons);
161 addObject(geom, mass);
162 break;
163 }
164 }
165
166
167 // Draw an object in the scene
168 static void drawGeom(IntPtr geom)
169 {
170 IntPtr body = d.GeomGetBody(geom);
171
172 d.Vector3 pos;
173 d.BodyCopyPosition(body, out pos);
174
175 d.Matrix3 R;
176 d.BodyCopyRotation(body, out R);
177
178 d.GeomClassID type = d.GeomGetClass(geom);
179 switch (type)
180 {
181 case d.GeomClassID.BoxClass:
182 d.Vector3 sides;
183 d.GeomBoxGetLengths(geom, out sides);
184 ds.DrawBox(ref pos, ref R, ref sides);
185 break;
186 case d.GeomClassID.CapsuleClass:
187 dReal radius, length;
188 d.GeomCapsuleGetParams(geom, out radius, out length);
189 ds.DrawCapsule(ref pos, ref R, length, radius);
190 break;
191 case d.GeomClassID.ConvexClass:
192 ds.DrawConvex(ref pos, ref R, planes, planes.Length / 4, points, points.Length / 3, polygons);
193 break;
194 }
195 }
196
197
198 // Called once per frame; updates the scene
199 static void step(int pause)
200 {
201 d.SpaceCollide(space, IntPtr.Zero, nearCallback);
202 if (pause == 0)
203 d.WorldQuickStep(world, 0.02f);
204 d.JointGroupEmpty(contactgroup);
205
206 ds.SetColor(1.0f, 1.0f, 0.0f);
207 ds.SetTexture(ds.Texture.Wood);
208
209 foreach (IntPtr geom in obj)
210 {
211 drawGeom(geom);
212 }
213 }
214
215
216 static void Main(string[] args)
217 {
218 // Setup pointers to drawstuff callback functions
219 ds.Functions fn;
220 fn.version = ds.VERSION;
221 fn.start = new ds.CallbackFunction(start);
222 fn.step = new ds.CallbackFunction(step);
223 fn.command = new ds.CallbackFunction(command);
224 fn.stop = null;
225 fn.path_to_textures = "../../../../drawstuff/textures";
226 if (args.Length > 0)
227 {
228 fn.path_to_textures = args[0];
229 }
230
231 // Set up contact response parameters
232 contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
233 contact.surface.mu = d.Infinity;
234 contact.surface.mu2 = 0.0f;
235 contact.surface.bounce = 0.1f;
236 contact.surface.bounce_vel = 0.1f;
237 contact.surface.soft_cfm = 0.01f;
238
239 // Initialize the scene
240 world = d.WorldCreate();
241 space = d.HashSpaceCreate(IntPtr.Zero);
242 contactgroup = d.JointGroupCreate(0);
243 d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
244 d.WorldSetCFM(world, 1e-5f);
245 d.WorldSetAutoDisableFlag(world, true);
246 d.WorldSetContactMaxCorrectingVel(world, 0.1f);
247 d.WorldSetContactSurfaceLayer(world, 0.001f);
248 d.CreatePlane(space, 0, 0, 1, 0);
249
250 // Run the scene
251 ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
252
253 // Clean up
254 d.JointGroupDestroy(contactgroup);
255 d.SpaceDestroy(space);
256 d.WorldDestroy(world);
257 d.CloseODE();
258 }
259 }
260}
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Tests/premake.lua b/libraries/ode-0.9/contrib/Ode.NET/Tests/premake.lua
new file mode 100644
index 0000000..5253ae1
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/Tests/premake.lua
@@ -0,0 +1,27 @@
1-- This function creates the test packages
2function maketest(name)
3
4 package = newpackage()
5 package.name = name
6 package.kind = "exe"
7 package.language = "c#"
8
9 if (options["with-doubles"]) then
10 package.defines = { "dDOUBLE" }
11 else
12 package.defines = { "dSINGLE " }
13 end
14
15 package.links = {
16 "System",
17 "Ode.NET",
18 "Drawstuff.NET"
19 }
20
21 package.files = {
22 name .. ".cs"
23 }
24
25end
26
27maketest("BoxStack")
diff --git a/libraries/ode-0.9/contrib/Ode.NET/premake.lua b/libraries/ode-0.9/contrib/Ode.NET/premake.lua
new file mode 100644
index 0000000..c25a017
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/premake.lua
@@ -0,0 +1,29 @@
1project.name = "Ode.NET"
2
3-- Target checking
4
5 if (target and target ~= "vs2005" and target ~= "gnu") then
6 error("Ode.NET requires a .NET 2.0 compiler")
7 end
8
9
10-- Project options
11
12 addoption("with-doubles", "Use double instead of float as base numeric type")
13 addoption("with-tests", "Builds the test applications and DrawStuff library")
14 addoption("no-unsafe", "Exclude functions using unsafe code (dBodyGetPosition, etc.)")
15
16
17-- Build settings
18
19 project.config["Debug"].bindir = "bin/Debug"
20 project.config["Release"].bindir = "bin/Release"
21
22
23-- Packages
24
25 if (options["with-tests"]) then
26 dopackage("Tests")
27 dopackage("Drawstuff")
28 end
29 dopackage("Ode")
generated by cgit v1.1 at 2024-11-09 06:52:08 +0000