From fca74b0bf0a0833f5701e9c0de7b3bc15b2233dd Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:07 +0000 Subject: dont ask --- .../ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs | 18 - libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs | 1732 -------------------- libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua | 31 - 3 files changed, 1781 deletions(-) delete mode 100644 libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs delete mode 100644 libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs delete mode 100644 libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua (limited to 'libraries/ode-0.9/contrib/Ode.NET/Ode') diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs b/libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs deleted file mode 100644 index 6a8c2b6..0000000 --- a/libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs +++ /dev/null @@ -1,18 +0,0 @@ -using System; -using System.Reflection; -using System.Runtime.CompilerServices; -using System.Runtime.InteropServices; - -[assembly: AssemblyTitle("Ode.NET")] -[assembly: AssemblyDescription("")] -[assembly: AssemblyConfiguration("")] -[assembly: AssemblyCompany("")] -[assembly: AssemblyProduct("Ode.NET")] -[assembly: AssemblyCopyright("")] -[assembly: AssemblyTrademark("")] -[assembly: AssemblyCulture("")] -[assembly: ComVisible(false)] -[assembly: Guid("1347a35e-c32b-4ff6-8064-7d10b2cc113b")] -[assembly: AssemblyVersion("0.7.0.0")] -[assembly: AssemblyFileVersion("0.7.0.0")] -[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 deleted file mode 100644 index 0603810..0000000 --- a/libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs +++ /dev/null @@ -1,1732 +0,0 @@ -using System; -using System.Runtime.InteropServices; -using System.Security; - -namespace Ode.NET -{ -#if dDOUBLE - using dReal = System.Double; -#else - using dReal = System.Single; -#endif - - public static class d - { - public static dReal Infinity = dReal.MaxValue; - - #region Flags and Enumerations - - [Flags] - public enum ContactFlags : int - { - Mu2 = 0x001, - FDir1 = 0x002, - Bounce = 0x004, - SoftERP = 0x008, - SoftCFM = 0x010, - Motion1 = 0x020, - Motion2 = 0x040, - Slip1 = 0x080, - Slip2 = 0x100, - Approx0 = 0x0000, - Approx1_1 = 0x1000, - Approx1_2 = 0x2000, - Approx1 = 0x3000 - } - - public enum GeomClassID : int - { - SphereClass, - BoxClass, - CapsuleClass, - CylinderClass, - PlaneClass, - RayClass, - ConvexClass, - GeomTransformClass, - TriMeshClass, - HeightfieldClass, - FirstSpaceClass, - SimpleSpaceClass = FirstSpaceClass, - HashSpaceClass, - QuadTreeSpaceClass, - LastSpaceClass = QuadTreeSpaceClass, - FirstUserClass, - LastUserClass = FirstUserClass + MaxUserClasses - 1, - NumClasses, - MaxUserClasses = 4 - } - - public enum JointType : int - { - None, - Ball, - Hinge, - Slider, - Contact, - Universal, - Hinge2, - Fixed, - Null, - AMotor, - LMotor, - Plane2D - } - - public enum JointParam : int - { - LoStop, - HiStop, - Vel, - FMax, - FudgeFactor, - Bounce, - CFM, - StopERP, - StopCFM, - SuspensionERP, - SuspensionCFM, - LoStop2 = 256, - HiStop2, - Vel2, - FMax2, - FudgeFactor2, - Bounce2, - CFM2, - StopERP2, - StopCFM2, - SuspensionERP2, - SuspensionCFM2, - LoStop3 = 512, - HiStop3, - Vel3, - FMax3, - FudgeFactor3, - Bounce3, - CFM3, - StopERP3, - StopCFM3, - SuspensionERP3, - SuspensionCFM3 - } - - #endregion - - #region Callbacks - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void GetAABBFn(IntPtr geom, out AABB aabb); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate ColliderFn GetColliderFnFn(int num); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void GeomDtorFn(IntPtr o); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); - - #endregion - - #region Structs - - [StructLayout(LayoutKind.Sequential)] - public struct AABB - { - public dReal MinX, MaxX; - public dReal MinY, MaxY; - public dReal MinZ, MaxZ; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Contact - { - public SurfaceParameters surface; - public ContactGeom geom; - public Vector3 fdir1; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct ContactGeom - { - public static readonly int SizeOf = Marshal.SizeOf(typeof(ContactGeom)); - - public Vector3 pos; - public Vector3 normal; - public dReal depth; - public IntPtr g1; - public IntPtr g2; - public int side1; - public int side2; - } - - [StructLayout(LayoutKind.Sequential)] - public struct GeomClass - { - public int bytes; - public GetColliderFnFn collider; - public GetAABBFn aabb; - public AABBTestFn aabb_test; - public GeomDtorFn dtor; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct JointFeedback - { - public Vector3 f1; - public Vector3 t1; - public Vector3 f2; - public Vector3 t2; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Mass - { - public dReal mass; - public Vector4 c; - public Matrix3 I; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Matrix3 - { - public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) - { - M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; - M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; - M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; - } - public dReal M00, M10, M20; - private dReal _m30; - public dReal M01, M11, M21; - private dReal _m31; - public dReal M02, M12, M22; - private dReal _m32; - } - - [StructLayout(LayoutKind.Sequential)] - public struct Matrix4 - { - public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, - dReal m01, dReal m11, dReal m21, dReal m31, - dReal m02, dReal m12, dReal m22, dReal m32, - dReal m03, dReal m13, dReal m23, dReal m33) - { - M00 = m00; M10 = m10; M20 = m20; M30 = m30; - M01 = m01; M11 = m11; M21 = m21; M31 = m31; - M02 = m02; M12 = m12; M22 = m22; M32 = m32; - M03 = m03; M13 = m13; M23 = m23; M33 = m33; - } - public dReal M00, M10, M20, M30; - public dReal M01, M11, M21, M31; - public dReal M02, M12, M22, M32; - public dReal M03, M13, M23, M33; - } - - [StructLayout(LayoutKind.Sequential)] - public struct Quaternion - { - public dReal W, X, Y, Z; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct SurfaceParameters - { - public ContactFlags mode; - public dReal mu; - public dReal mu2; - public dReal bounce; - public dReal bounce_vel; - public dReal soft_erp; - public dReal soft_cfm; - public dReal motion1; - public dReal motion2; - public dReal slip1; - public dReal slip2; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Vector3 - { - public Vector3(dReal x, dReal y, dReal z) - { - X = x; Y = y; Z = z; _w = 0.0f; - } - public dReal X, Y, Z; - private dReal _w; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Vector4 - { - public Vector4(dReal x, dReal y, dReal z, dReal w) - { - X = x; Y = y; Z = z; W = w; - } - public dReal X, Y, Z, W; - } - - #endregion - - [DllImport("ode", EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] - public static extern bool AreConnected(IntPtr b1, IntPtr b2); - - [DllImport("ode", EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] - public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); - - [DllImport("ode", EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); - - [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyPosition(IntPtr body, out dReal X); - - [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); - - [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); - - [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); - - [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyRotation(IntPtr body, out dReal M00); - - [DllImport("ode", EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyCreate(IntPtr world); - - [DllImport("ode", EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void BodyDestroy(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] - public static extern void BodyDisable(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] - public static extern void BodyEnable(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern bool BodyGetAutoDisableFlag(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetAutoDisableSteps(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAutoDisableTime(IntPtr body); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); - public static Vector3 BodyGetAngularVel(IntPtr body) - { - unsafe { return *(BodyGetAngularVelUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyGetData(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetFiniteRotationMode(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); - public static Vector3 BodyGetForce(IntPtr body) - { - unsafe { return *(BodyGetForceUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] - public static extern bool BodyGetGravityMode(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyGetJoint(IntPtr body, int index); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); - public static Vector3 BodyGetLinearVel(IntPtr body) - { - unsafe { return *(BodyGetLinearVelUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetMass(IntPtr body, out Mass mass); - - [DllImport("ode", EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetNumJoints(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); - public static Vector3 BodyGetPosition(IntPtr body) - { - unsafe { return *(BodyGetPositionUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); - public static Quaternion BodyGetQuaternion(IntPtr body) - { - unsafe { return *(BodyGetQuaternionUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); - public static Matrix3 BodyGetRotation(IntPtr body) - { - unsafe { return *(BodyGetRotationUnsafe(body)); } - } -#endif - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); - public static Vector3 BodyGetTorque(IntPtr body) - { - unsafe { return *(BodyGetTorqueUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] - public static extern bool BodyIsEnabled(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableDefaults(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); - - [DllImport("ode", EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetData(IntPtr body, IntPtr data); - - [DllImport("ode", EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); - - [DllImport("ode", EntryPoint = "dBodySetFiniteRotationModeAxis"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetFiniteRotationModeAxis(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetGravityMode(IntPtr body, bool mode); - - [DllImport("ode", EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetMass(IntPtr body, ref Mass mass); - - [DllImport("ode", EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); - - [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetQuaternion(IntPtr body, ref dReal w); - - [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetRotation(IntPtr body, ref dReal M00); - - [DllImport("ode", EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] - public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] - public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] - public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, - ref Vector3 side1, ref Vector3 p2, - ref Matrix3 R2, ref Vector3 side2, - ref Vector3 normal, out dReal depth, out int return_code, - int maxc, out ContactGeom contact, int skip); - - [DllImport("ode", EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] - public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, - ref Vector3 side1, ref Vector3 _p2, - ref Matrix3 R2, ref Vector3 side2); - - [DllImport("ode", EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] - public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, - ref Vector3 b1, ref Vector3 b2, - ref Vector3 cp1, ref Vector3 cp2); - - [DllImport("ode", EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] - public static extern void CloseODE(); - - [DllImport("ode", EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] - public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); - - [DllImport("ode", EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); - - [DllImport("ode", EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz); - - [DllImport("ode", EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); - - [DllImport("ode", EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable); - - [DllImport("ode", EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateGeom(int classnum); - - [DllImport("ode", EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] - public static extern int CreateGeomClass(ref GeomClass classptr); - - [DllImport("ode", EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateGeomTransform(IntPtr space); - - [DllImport("ode", EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); - - [DllImport("ode", EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateRay(IntPtr space, dReal length); - - [DllImport("ode", EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateSphere(IntPtr space, dReal radius); - - [DllImport("ode", EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateTriMesh(IntPtr space, IntPtr data, - TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); - - [DllImport("ode", EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] - public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); - - [DllImport("ode", EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] - public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); - - [DllImport("ode", EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] - public static extern int FactorCholesky(ref dReal A00, int n); - - [DllImport("ode", EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] - public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); - - [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] - public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); - - [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] - public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); - - [DllImport("ode", EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] - public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); - - [DllImport("ode", EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] - public static extern void GeomClearOffset(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); - - [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); - - [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); - - [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); - - [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); - - [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyPosition(IntPtr geom, out dReal X); - - [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); - - [DllImport("ode", EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); - - [DllImport("ode", EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomDestroy(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] - public static extern void GeomDisable(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] - public static extern void GeomEnable(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] - public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); - - [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] - public static extern void GeomGetAABB(IntPtr geom, out dReal minX); - - [DllImport("ode", EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetBody(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] - public static extern int GeomGetCategoryBits(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetClassData(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] - public static extern int GeomGetCollideBits(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] - public static extern GeomClassID GeomGetClass(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetData(IntPtr geom); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); - public static Vector3 GeomGetOffsetPosition(IntPtr geom) - { - unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } - } -#endif - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); - public static Matrix3 GeomGetOffsetRotation(IntPtr geom) - { - unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } - } -#endif - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); - public static Vector3 GeomGetPosition(IntPtr geom) - { - unsafe { return *(GeomGetPositionUnsafe(geom)); } - } -#endif - - [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); - - [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); - public static Matrix3 GeomGetRotation(IntPtr geom) - { - unsafe { return *(GeomGetRotationUnsafe(geom)); } - } -#endif - - [DllImport("ode", EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetSpace(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomHeightfieldDataCreate(); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataDestroy(IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomIsEnabled(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomIsOffset(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomIsSpace(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); - - [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); - - [DllImport("ode", EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); - - [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); - - [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); - - [DllImport("ode", EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] - public static extern int GeomRayGetClosestHit(IntPtr ray); - - [DllImport("ode", EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomRayGetLength(IntPtr ray); - - [DllImport("ode", EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); - - [DllImport("ode", EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); - - [DllImport("ode", EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); - - [DllImport("ode", EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySetLength(IntPtr ray, dReal length); - - [DllImport("ode", EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); - - [DllImport("ode", EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetBody(IntPtr geom, IntPtr body); - - [DllImport("ode", EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetCategoryBits(IntPtr geom, int bits); - - [DllImport("ode", EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetCollideBits(IntPtr geom, int bits); - - [DllImport("ode", EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); - - [DllImport("ode", EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetData(IntPtr geom, IntPtr data); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); - - [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); - - [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomSphereGetRadius(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); - - [DllImport("ode", EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern int GeomTransformGetCleanup(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTransformGetGeom(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] - public static extern int GeomTransformGetInfo(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); - - [DllImport("ode", EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); - - [DllImport("ode", EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTransformSetInfo(IntPtr geom, int info); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble(IntPtr d, - double[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, - double[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride, - double[] normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride, - IntPtr normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle(IntPtr d, - dReal[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, - dReal[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride, - dReal[] normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride, - IntPtr normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple(IntPtr d, - float[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, - float[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride, - float[] normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride, - IntPtr normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshClearTCCache(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshDataCreate(); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataDestroy(IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataPreprocess(IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataUpdate(IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] - public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] - public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshGetData(IntPtr g); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); - public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) - { - unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } - } -#endif - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] - public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] - public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] - public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] - public extern static int GeomTriMeshGetTriangleCount(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); - - [DllImport("ode", EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr HashSpaceCreate(IntPtr space); - - [DllImport("ode", EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] - public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); - - [DllImport("ode", EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] - public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); - - [DllImport("ode", EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] - public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); - - [DllImport("ode", EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] - public static extern void InitODE(); - - [DllImport("ode", EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] - public static extern int IsPositiveDefinite(ref dReal A, int n); - - [DllImport("ode", EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] - public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); - - [DllImport("ode", EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); - - [DllImport("ode", EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); - - [DllImport("ode", EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); - - [DllImport("ode", EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddPRTorque(IntPtr joint, dReal torque); - - [DllImport("ode", EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); - - [DllImport("ode", EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddSliderForce(IntPtr joint, dReal force); - - [DllImport("ode", EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] - public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); - - [DllImport("ode", EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); - - [DllImport("ode", EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void JointDestroy(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); - - [DllImport("ode", EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); - - [DllImport("ode", EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); - - [DllImport("ode", EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetAMotorMode(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetAMotorNumAxes(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointGetBody(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointGetData(IntPtr j); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] - public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); - public static JointFeedback JointGetFeedback(IntPtr j) - { - unsafe { return *(JointGetFeedbackUnsafe(j)); } - } -#endif - - [DllImport("ode", EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHingeAngle(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHingeAngleRate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHingeParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Angle1(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetLMotorNumAxes(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetPRParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetPRPosition(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetPRPositionRate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetSliderParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetSliderPosition(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetSliderPositionRate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] - public static extern JointType JointGetType(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle1(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle2(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointGroupCreate(int max_size); - - [DllImport("ode", EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void JointGroupDestroy(IntPtr group); - - [DllImport("ode", EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] - public static extern void JointGroupEmpty(IntPtr group); - - [DllImport("ode", EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); - - [DllImport("ode", EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorMode(IntPtr j, int mode); - - [DllImport("ode", EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorNumAxes(IntPtr group, int num); - - [DllImport("ode", EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetData(IntPtr j, IntPtr data); - - [DllImport("ode", EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); - - [DllImport("ode", EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetFixed(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - - [DllImport("ode", EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetLMotorNumAxes(IntPtr j, int num); - - [DllImport("ode", EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - - [DllImport("ode", EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] - public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); - - [DllImport("ode", EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] - public static extern void MassAdd(ref Mass a, ref Mass b); - - [DllImport("ode", EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] - public static extern void MassAdjust(ref Mass m, dReal newmass); - - [DllImport("ode", EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] - public static extern bool MassCheck(ref Mass m); - - [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] - public static extern void MassRotate(out Mass mass, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] - public static extern void MassRotate(out Mass mass, ref dReal M00); - - [DllImport("ode", EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); - - [DllImport("ode", EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); - - [DllImport("ode", EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetParameters(out Mass mass, dReal themass, - dReal cgx, dReal cgy, dReal cgz, - dReal i11, dReal i22, dReal i33, - dReal i12, dReal i13, dReal i23); - - [DllImport("ode", EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); - - [DllImport("ode", EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] - public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); - - [DllImport("ode", EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); - - [DllImport("ode", EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetZero(out Mass mass); - - [DllImport("ode", EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] - public static extern void MassTranslate(out Mass mass, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] - public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); - - [DllImport("ode", EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] - public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); - - [DllImport("ode", EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] - public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); - - [DllImport("ode", EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] - public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); - - [DllImport("ode", EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] - public static extern void QfromR(out Quaternion q, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] - public static extern void QSetIdentity(out Quaternion q); - - [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); - - [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); - - [DllImport("ode", EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] - public static extern dReal RandReal(); - - [DllImport("ode", EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] - public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); - - [DllImport("ode", EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] - public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); - - [DllImport("ode", EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] - public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); - - [DllImport("ode", EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] - public static extern void RfromQ(out Matrix3 R, ref Quaternion q); - - [DllImport("ode", EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] - public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); - - [DllImport("ode", EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] - public static extern void RSetIdentity(out Matrix3 R); - - [DllImport("ode", EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] - public static extern void SetValue(out dReal a, int n); - - [DllImport("ode", EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] - public static extern void SetZero(out dReal a, int n); - - [DllImport("ode", EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr SimpleSpaceCreate(IntPtr space); - - [DllImport("ode", EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] - public static extern void SolveCholesky(ref dReal L, out dReal b, int n); - - [DllImport("ode", EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] - public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); - - [DllImport("ode", EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] - public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); - - [DllImport("ode", EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] - public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); - - [DllImport("ode", EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceAdd(IntPtr space, IntPtr geom); - - [DllImport("ode", EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceClean(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); - - [DllImport("ode", EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); - - [DllImport("ode", EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceDestroy(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern bool SpaceGetCleanup(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] - public static extern int SpaceGetNumGeoms(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr SpaceGetGeom(IntPtr space, int i); - - [DllImport("ode", EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] - public static extern bool SpaceQuery(IntPtr space, IntPtr geom); - - [DllImport("ode", EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceRemove(IntPtr space, IntPtr geom); - - [DllImport("ode", EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceSetCleanup(IntPtr space, bool mode); - - [DllImport("ode", EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] - public static extern void VectorScale(out dReal a, ref dReal d, int n); - - [DllImport("ode", EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr WorldCreate(); - - [DllImport("ode", EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void WorldDestroy(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern bool WorldGetAutoDisableFlag(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetAutoDisableSteps(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAutoDisableTime(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetCFM(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetERP(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] - public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); - - [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] - public static extern void WorldGetGravity(IntPtr world, out dReal X); - - [DllImport("ode", EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetQuickStepNumIterations(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetQuickStepW(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] - public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); - - [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] - public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); - - [DllImport("ode", EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] - public static extern void WorldQuickStep(IntPtr world, dReal stepsize); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); - - [DllImport("ode", EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); - - [DllImport("ode", EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetCFM(IntPtr world, dReal cfm); - - [DllImport("ode", EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); - - [DllImport("ode", EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); - - [DllImport("ode", EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetERP(IntPtr world, dReal erp); - - [DllImport("ode", EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); - - [DllImport("ode", EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); - - [DllImport("ode", EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] - public static extern void WorldStep(IntPtr world, dReal stepsize); - - [DllImport("ode", EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] - public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); - } -} diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua b/libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua deleted file mode 100644 index b53d54c..0000000 --- a/libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua +++ /dev/null @@ -1,31 +0,0 @@ -package.name = "Ode.NET" -package.kind = "dll" -package.language = "c#" - --- Build options - - package.defines = { } - - if (options["with-doubles"]) then - table.insert(package.defines, "dDOUBLE") - else - table.insert(package.defines, "dSINGLE") - end - - if (options["no-unsafe"]) then - table.insert(package.defines, "dNO_UNSAFE_CODE") - else - package.buildflags = { "unsafe" } - end - - --- Files & Libraries - - package.files = { - "AssemblyInfo.cs", - "Ode.cs" - } - - package.links = { - "System" - } -- cgit v1.1