internal int AddBody(int body_index, int parent_index, JointType joint_type, Vector3 parent_r_parent_body_ref, Matrix3x3FloatData body_T_parent_ref, Vector3 body_axis_of_motion, int mass, Vector3 body_r_body_com, Matrix3x3FloatData body_I_body, int user_int, IntPtr user_ptr)
{
return(UnsafeNativeMethodsInverseDynamics.MultiBodyTree_addBody(Native, body_index, parent_index, joint_type, ref parent_r_parent_body_ref, ref body_T_parent_ref, ref body_axis_of_motion, mass, ref body_r_body_com, ref body_I_body, user_int, user_ptr));
}
public int GetBodyTransform(int body_index, out Matrix3x3FloatData world_T_body)
{
return(UnsafeNativeMethodsInverseDynamics.MultiBodyTree_getBodyTransform(Native, body_index, out world_T_body));
}
public int SetBodySecondMassMoment(int body_index, ref Matrix3x3FloatData second_mass_moment)
{
return(UnsafeNativeMethodsInverseDynamics.MultiBodyTree_setBodySecondMassMoment(Native, body_index, ref second_mass_moment));
}
public int GetBodyTParentRef(int body_index, out Matrix3x3FloatData T)
{
return(UnsafeNativeMethodsInverseDynamics.MultiBodyTree_getBodyTParentRef(Native, body_index, out T));
}
public static extern int MultiBodyTree_addBody(IntPtr obj, int body_index, int parent_index, JointType joint_type, ref Vector3 parent_r_parent_body_ref, [In] ref Matrix3x3FloatData body_T_parent_ref, [In] ref Vector3 body_axis_of_motion, int mass, [In] ref Vector3 body_r_body_com, [In] ref Matrix3x3FloatData body_I_body, int user_int, IntPtr user_ptr);
public static extern int MultiBodyTree_setBodySecondMassMoment(IntPtr obj, int body_index, ref Matrix3x3FloatData second_mass_moment);
public static extern int MultiBodyTree_getBodyTransform(IntPtr obj, int body_index, out Matrix3x3FloatData world_T_body);
public static extern int MultiBodyTree_getBodyTParentRef(IntPtr obj, int body_index, out Matrix3x3FloatData T);
