aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/PhysicsModules/ubOde/ODEApi.cs
blob: 2ebd9640d9332cc8c6f1435747eb37dcd8e6cae9 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
1726
1727
1728
1729
1730
1731
1732
1733
1734
1735
1736
1737
1738
1739
1740
1741
1742
1743
1744
1745
1746
1747
1748
1749
1750
1751
1752
1753
1754
1755
1756
1757
1758
1759
1760
1761
1762
1763
1764
1765
1766
1767
1768
1769
1770
1771
1772
1773
1774
1775
1776
1777
1778
1779
1780
1781
1782
1783
1784
1785
1786
1787
1788
1789
1790
1791
1792
1793
1794
1795
1796
1797
1798
1799
1800
1801
1802
1803
1804
1805
1806
1807
1808
1809
1810
1811
1812
1813
1814
1815
1816
1817
1818
1819
1820
1821
1822
1823
1824
1825
1826
1827
1828
1829
1830
1831
1832
1833
1834
1835
1836
1837
1838
1839
1840
1841
1842
1843
1844
1845
1846
1847
1848
1849
1850
1851
1852
1853
1854
1855
1856
1857
1858
1859
1860
1861
1862
1863
1864
1865
1866
1867
1868
1869
1870
1871
1872
1873
1874
1875
1876
1877
1878
1879
1880
1881
1882
1883
1884
1885
1886
1887
1888
1889
1890
1891
1892
1893
1894
1895
1896
1897
1898
1899
1900
1901
1902
1903
1904
1905
1906
1907
1908
1909
1910
1911
1912
1913
1914
1915
1916
1917
1918
1919
1920
1921
1922
1923
1924
1925
1926
1927
1928
1929
1930
1931
1932
1933
1934
1935
1936
1937
1938
1939
1940
1941
1942
1943
1944
1945
1946
1947
1948
1949
1950
1951
1952
1953
1954
1955
1956
1957
1958
1959
1960
1961
1962
1963
1964
1965
1966
1967
1968
1969
1970
1971
1972
1973
1974
1975
1976
1977
1978
1979
1980
1981
1982
1983
1984
1985
1986
1987
1988
1989
1990
1991
1992
1993
1994
1995
1996
1997
1998
1999
2000
2001
2002
2003
2004
2005
2006
2007
2008
2009
2010
2011
2012
2013
2014
2015
2016
2017
2018
2019
2020
2021
2022
2023
2024
/*
 * based on:
 * Ode.NET - .NET bindings for ODE
 * Jason Perkins (starkos@industriousone.com)
  *  Licensed under the New BSD
 *  Part of the OpenDynamicsEngine
Open Dynamics Engine
Copyright (c) 2001-2007, Russell L. Smith.
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:

Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

Neither the names of ODE's copyright owner nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * 
 * changes by opensim team; 
 * changes by Aurora team http://www.aurora-sim.org/
 * changes by Ubit Umarov
 */

using System;
using System.Runtime.InteropServices;
using System.Security;
using OMV = OpenMetaverse;
namespace OdeAPI
{
//#if dDOUBLE
// don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim
// at least we save same memory and memory access time, FPU performance on intel usually is similar
//	using dReal = System.Double;
//#else
	using dReal = System.Single;
//#endif

	public static class d
	{
		public static dReal Infinity = dReal.MaxValue;
        public static int NTotalBodies = 0;
        public static int NTotalGeoms = 0;

        public const uint CONTACTS_UNIMPORTANT = 0x80000000;

		#region Flags and Enumerations

        [Flags]
        public enum AllocateODEDataFlags : uint
        {
            BasicData = 0,
            CollisionData = 0x00000001,
            All = ~0u
        }

        [Flags]
        public enum IniteODEFlags : uint
        {
            dInitFlagManualThreadCleanup = 0x00000001
        }

		[Flags]
		public enum ContactFlags : int
		{
			Mu2 = 0x001,
			FDir1 = 0x002,
			Bounce = 0x004,
			SoftERP = 0x008,
			SoftCFM = 0x010,
			Motion1 = 0x020,
			Motion2 = 0x040,
            MotionN = 0x080,
			Slip1 = 0x100,
			Slip2 = 0x200,
			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,
            ubtTerrainClass,
			FirstUserClass,
			LastUserClass = FirstUserClass + MaxUserClasses - 1,
			NumClasses,
			MaxUserClasses = 5
		}

		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
		}

        public enum dSweepAndPruneAxis : int
        {
            XYZ = ((0)|(1<<2)|(2<<4)),
            XZY = ((0)|(2<<2)|(1<<4)),
            YXZ = ((1)|(0<<2)|(2<<4)),
            YZX = ((1)|(2<<2)|(0<<4)),
            ZXY = ((2)|(0<<2)|(1<<4)),
            ZYX = ((2)|(1<<2)|(0<<4))
        }

		#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 dReal ubTerrainGetHeight(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;
            public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
		}


		[StructLayout(LayoutKind.Sequential)]
		public struct ContactGeom
		{

			public Vector3 pos;
			public Vector3 normal;
			public dReal depth;
			public IntPtr g1;
			public IntPtr g2;
			public int side1;
			public int side2;
            public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
        }

		[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 motionN;
			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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
        public static extern int AllocateODEDataForThread(uint ODEInitFlags);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
		public static extern bool AreConnected(IntPtr b1, IntPtr b2);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
		public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyCopyPosition(IntPtr body, out dReal X);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyCopyRotation(IntPtr body, out dReal M00);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr BodyiCreate(IntPtr world);
        public static IntPtr BodyCreate(IntPtr world)
        {
            NTotalBodies++;
            return BodyiCreate(world);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
        public static extern void BodyiDestroy(IntPtr body);
        public static void BodyDestroy(IntPtr body)
        {
            NTotalBodies--;
            BodyiDestroy(body);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyDisable(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyEnable(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
		public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
		public static extern bool BodyGetAutoDisableFlag(IntPtr body);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
        public static extern void BodyGetAutoDisableDefaults(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
		public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
		public static extern int BodyGetAutoDisableSteps(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
		public static extern dReal BodyGetAutoDisableTime(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
		public static Vector3 BodyGetAngularVel(IntPtr body)
		{
			unsafe { return *(BodyGetAngularVelUnsafe(body)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr BodyGetData(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
		public static extern int BodyGetFiniteRotationMode(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
		public static Vector3 BodyGetForce(IntPtr body)
		{
			unsafe { return *(BodyGetForceUnsafe(body)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
		public static extern bool BodyGetGravityMode(IntPtr body);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
        public static extern int BodyGetGyroscopicMode(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr BodyGetJoint(IntPtr body, int index);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
		public static Vector3 BodyGetLinearVel(IntPtr body)
		{
			unsafe { return *(BodyGetLinearVelUnsafe(body)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyGetMass(IntPtr body, out Mass mass);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
		public static extern int BodyGetNumJoints(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
		public static Vector3 BodyGetPosition(IntPtr body)
		{
			unsafe { return *(BodyGetPositionUnsafe(body)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
		public static Quaternion BodyGetQuaternion(IntPtr body)
		{
			unsafe { return *(BodyGetQuaternionUnsafe(body)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
		public static Matrix3 BodyGetRotation(IntPtr body)
		{
			unsafe { return *(BodyGetRotationUnsafe(body)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
		public static Vector3 BodyGetTorque(IntPtr body)
		{
			unsafe { return *(BodyGetTorqueUnsafe(body)); }
		}

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr BodyGetWorld(IntPtr body);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr BodyGetFirstGeom(IntPtr body);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);


		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
		public static extern bool BodyIsEnabled(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetAutoDisableDefaults(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetData(IntPtr body, IntPtr data);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
        public static extern void BodySetLinearDamping(IntPtr body, dReal scale);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
        public static extern void BodySetAngularDamping(IntPtr body, dReal scale);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
        public static extern dReal BodyGetLinearDamping(IntPtr body);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
        public static extern dReal BodyGetAngularDamping(IntPtr body);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
        public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
        public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
        public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
        public static extern dReal BodyGetLinearDampingThreshold(IntPtr body);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
        public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetGravityMode(IntPtr body, bool mode);

        /// <summary>
        /// Sets the Gyroscopic term status on the body specified.
        /// </summary>
        /// <param name="body">Pointer to body</param>
        /// <param name="enabled">NonZero enabled, Zero disabled</param>
        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
        public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetMass(IntPtr body, ref Mass mass);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetQuaternion(IntPtr body, ref dReal w);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetRotation(IntPtr body, ref dReal M00);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
		public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
		public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
		public static extern void CleanupODEAllDataForThread();
        
		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
		public static extern void CloseODE();

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
        public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
        public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
		public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
        {
            NTotalGeoms++;
            return CreateiBox(space, lx, ly, lz);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
        public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
        {
            NTotalGeoms++;
            return CreateiCapsule(space, radius, length);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
        public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
        {
            NTotalGeoms++;
            return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
        public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
        {
            NTotalGeoms++;
            return CreateiCylinder(space, radius, length);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
        public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
        {
            NTotalGeoms++;
            return CreateiHeightfield(space, data, bPlaceable);
        }

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateubTerrain"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr CreateiubTerrain(IntPtr space, IntPtr data, int bPlaceable);
        public static IntPtr CreateubTerrain(IntPtr space, IntPtr data, int bPlaceable)
        {
            NTotalGeoms++;
            return CreateiubTerrain(space, data, bPlaceable);
        }



        

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr CreateiGeom(int classnum);
        public static IntPtr CreateGeom(int classnum)
        {
            NTotalGeoms++;
            return CreateiGeom(classnum);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
		public static extern int CreateGeomClass(ref GeomClass classptr);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr CreateGeomTransform(IntPtr space);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
        public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
        {
            NTotalGeoms++;
            return CreateiPlane(space, a, b, c, d);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr CreateiRay(IntPtr space, dReal length);
        public static IntPtr CreateRay(IntPtr space, dReal length)
        {
            NTotalGeoms++;
            return CreateiRay(space, length);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
        public static IntPtr CreateSphere(IntPtr space, dReal radius)
        {
            NTotalGeoms++;
            return CreateiSphere(space, radius);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, 
			TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
        public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
            TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
        {
            NTotalGeoms++;
            return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
        }
        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
		public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
		public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
		public static extern int FactorCholesky(ref dReal A00, int n);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
		public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
		public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
		public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomClearOffset(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCopyPosition(IntPtr geom, out dReal X);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomiDestroy(IntPtr geom);
        public static void GeomDestroy(IntPtr geom)
        {
            NTotalGeoms--;
            GeomiDestroy(geom);
        }


		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomDisable(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomEnable(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomGetAABB(IntPtr geom, out dReal minX);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomGetBody(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
		public static extern uint GeomGetCategoryBits(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomGetClassData(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
		public static extern uint GeomGetCollideBits(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
		public static extern GeomClassID GeomGetClass(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr GeomGetData(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
		public static Vector3 GeomGetOffsetPosition(IntPtr geom)
		{
			unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
		public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
		{
			unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
		public static Vector3 GeomGetPosition(IntPtr geom)
		{
			unsafe { return *(GeomGetPositionUnsafe(geom)); }
		}
		public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom)
		{
            Vector3 vtmp = GeomGetPosition(geom);
            return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z);
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
        public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
        public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom)
        {
            Quaternion qtmp;
            GeomCopyQuaternion(geom, out qtmp);
            return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
		public static Matrix3 GeomGetRotation(IntPtr geom)
		{
			unsafe { return *(GeomGetRotationUnsafe(geom)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomGetSpace(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomHeightfieldDataCreate();

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomHeightfieldDataDestroy(IntPtr d);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);


        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
        public static extern void GeomubTerrainDataBuild(IntPtr d, float[] pHeightData, int bCopyHeightData,
                dReal sampleSize, int widthSamples, int depthSamples,
                dReal offset, dReal thickness, int bWrap);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomubTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
        public static extern void GeomubTerrainDataBuild(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
                dReal sampleSize, int widthSamples, int depthSamples,
                dReal thickness, int bWrap);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomubTerrainDataCreate"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr GeomubTerrainDataCreate();

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomubTerrainDataDestroy"), SuppressUnmanagedCodeSecurity]
        public static extern void GeomubTerrainDataDestroy(IntPtr d);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomubTerrainDataSetBounds"), SuppressUnmanagedCodeSecurity]
        public static extern void GeomubTerrainDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomubTerrainGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr GeomubTerrainGetHeightfieldData(IntPtr g);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomubTerrainSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
        public static extern void GeomubTerrainSetHeightfieldData(IntPtr g, IntPtr d);


		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
		public static extern bool GeomIsEnabled(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
		public static extern bool GeomIsOffset(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
		public static extern bool GeomIsSpace(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
		public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
		public static extern int GeomRayGetClosestHit(IntPtr ray);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
		public static extern dReal GeomRayGetLength(IntPtr ray);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
		public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomRaySetLength(IntPtr ray, dReal length);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetBody(IntPtr geom, IntPtr body);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetCategoryBits(IntPtr geom, uint bits);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetCollideBits(IntPtr geom, uint bits);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
        public static extern void GeomSetData(IntPtr geom, IntPtr data);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
		public static extern dReal GeomSphereGetRadius(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
		public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
		public static extern int GeomTransformGetCleanup(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomTransformGetGeom(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
		public static extern int GeomTransformGetInfo(IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTransformSetInfo(IntPtr geom, int info);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
			double[] vertices, int vertexStride, int vertexCount,
			int[] indices, int indexCount, int triStride);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
			IntPtr vertices, int vertexStride, int vertexCount,
			IntPtr indices, int indexCount, int triStride);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
			dReal[] vertices, int vertexStride, int vertexCount,
			int[] indices, int indexCount, int triStride);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
			IntPtr vertices, int vertexStride, int vertexCount,
			IntPtr indices, int indexCount, int triStride);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataBuildSimple(IntPtr d, 
			float[] vertices, int vertexStride, int vertexCount,
			int[] indices, int indexCount, int triStride);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
			IntPtr vertices, int vertexStride, int vertexCount,
			IntPtr indices, int indexCount, int triStride);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshClearTCCache(IntPtr g);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomTriMeshDataCreate();

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataDestroy(IntPtr d);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataPreprocess(IntPtr d);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshDataUpdate(IntPtr d);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
		public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
		public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomTriMeshGetData(IntPtr g);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
		public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
		{
			unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
		public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
		public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
		public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
		public extern static int GeomTriMeshGetTriangleCount(IntPtr g);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
		public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
		public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
        public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr iGetConfiguration();

        public static string GetConfiguration()
        {
            IntPtr ptr = iGetConfiguration();
            string s = Marshal.PtrToStringAnsi(ptr);
            return s;
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr HashSpaceCreate(IntPtr space);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
		public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
		public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
		public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
		public static extern void InitODE();

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
        public static extern int InitODE2(uint ODEInitFlags);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
		public static extern int IsPositiveDefinite(ref dReal A, int n);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
		public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
		public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
		public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
		public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
		public static extern void JointAddPRTorque(IntPtr joint, dReal torque);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
		public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
		public static extern void JointAddSliderForce(IntPtr joint, dReal force);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
		public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
		public static extern void JointDestroy(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
		public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
		public static extern int JointGetAMotorMode(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
		public static extern int JointGetAMotorNumAxes(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointGetBody(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointGetData(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
		public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
		public static JointFeedback JointGetFeedback(IntPtr j)
		{
			unsafe { return *(JointGetFeedbackUnsafe(j)); }
		}

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetHingeAngle(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetHingeAngleRate(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetHingeParam(IntPtr j, int parameter);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetHinge2Angle1(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
		public static extern int JointGetLMotorNumAxes(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetPRParam(IntPtr j, int parameter);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetPRPosition(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetPRPositionRate(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetSliderParam(IntPtr j, int parameter);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetSliderPosition(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetSliderPositionRate(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
		public static extern JointType JointGetType(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetUniversalAngle1(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetUniversalAngle2(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
		public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr JointGroupCreate(int max_size);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGroupDestroy(IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
		public static extern void JointGroupEmpty(IntPtr group);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetAMotorMode(IntPtr j, int mode);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetAMotorNumAxes(IntPtr group, int num);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetData(IntPtr j, IntPtr data);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetFixed(IntPtr j);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetLMotorNumAxes(IntPtr j, int num);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
		public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
		public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
		public static extern void MassAdd(ref Mass a, ref Mass b);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
		public static extern void MassAdjust(ref Mass m, dReal newmass);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
		public static extern bool MassCheck(ref Mass m);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
		public static extern void MassRotate(ref Mass mass, ref Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
		public static extern void MassRotate(ref Mass mass, ref dReal M00);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
		public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
		public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
		public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
		public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
		public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
		public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
		public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
		public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
		public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
		public static extern void MassSetZero(out Mass mass);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
		public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
        private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r);
        public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector)
        {
            MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
        }

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
		public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
		public static extern void QfromR(out Quaternion q, ref Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
		public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
		public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
		public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
		public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
		public static extern void QSetIdentity(out Quaternion q);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
		public static extern dReal RandReal();

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, 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", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
		public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
		public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
		public static extern void RfromQ(out Matrix3 R, ref Quaternion q);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
		public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
		public static extern void RSetIdentity(out Matrix3 R);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
		public static extern void SetValue(out dReal a, int n);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
		public static extern void SetZero(out dReal a, int n);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr SimpleSpaceCreate(IntPtr space);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
		public static extern void SolveCholesky(ref dReal L, out dReal b, int n);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
		public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
		public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
		public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
		public static extern void SpaceAdd(IntPtr space, IntPtr geom);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
        public static extern bool SpaceLockQuery(IntPtr space);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
		public static extern void SpaceClean(IntPtr space);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
		public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
		public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
		public static extern void SpaceDestroy(IntPtr space);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
		public static extern bool SpaceGetCleanup(IntPtr space);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
		public static extern int SpaceGetNumGeoms(IntPtr space);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr SpaceGetGeom(IntPtr space, int i);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
        public static extern int SpaceGetSublevel(IntPtr space);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
		public static extern bool SpaceQuery(IntPtr space, IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
		public static extern void SpaceRemove(IntPtr space, IntPtr geom);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
		public static extern void SpaceSetCleanup(IntPtr space, bool mode);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
        public static extern void SpaceSetSublevel(IntPtr space, int sublevel);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
        public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
		public static extern void VectorScale(out dReal a, ref dReal d, int n);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
		public static extern IntPtr WorldCreate();

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldDestroy(IntPtr world);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
        public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
		public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
		public static extern bool WorldGetAutoDisableFlag(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
		public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
		public static extern int WorldGetAutoDisableSteps(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
		public static extern dReal WorldGetAutoDisableTime(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
		public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
		public static extern dReal WorldGetCFM(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
		public static extern dReal WorldGetERP(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldGetGravity(IntPtr world, out dReal X);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
		public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
		public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
        public static extern dReal WorldGetAngularDamping(IntPtr world);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
        public static extern dReal WorldGetAngularDampingThreshold(IntPtr world);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity]
        public static extern dReal WorldGetLinearDamping(IntPtr world);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
        public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
		public static extern int WorldGetQuickStepNumIterations(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
		public static extern dReal WorldGetQuickStepW(IntPtr world);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
        public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldQuickStep(IntPtr world, dReal stepsize);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
        public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
        public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
        public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetCFM(IntPtr world, dReal cfm);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
        public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetERP(IntPtr world, dReal erp);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
        
        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
        public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
        public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);

        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
        public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldStep(IntPtr world, dReal stepsize);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);

		[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
		public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
	}
}