public extern static void dQFromAxisAndAngle( out dQuaternion q, dReal ax, dReal ay, dReal az, dReal angle );
/// <summary>
///
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <param name="w"></param>
public dVector4( dReal x, dReal y, dReal z, dReal w )
{
X = x;
Y = y;
Z = z;
W = w;
}
public extern static void dRFromEulerAngles( out dMatrix3 R, dReal phi, dReal theta, dReal psi );
public extern static void dRFromZAxis( dReal[] R, dReal ax, dReal ay, dReal az );
/// <summary>
///
/// </summary>
/// <param name="_mass"></param>
/// <param name="_c"></param>
/// <param name="_I"></param>
public dMass( dReal _mass, dVector3 _c, dMatrix3 _I )
{
mass = _mass;
c = _c;
I = _I;
}
public extern static void dGeomTriMeshGetPoint( dGeomID g, int Index, dReal u, dReal v, ref dVector3 Out );
public extern static dReal dGeomBoxPointDepth( dGeomID box, dReal x, dReal y, dReal z );
public extern static void dGeomRaySetLength( dGeomID ray, dReal length );
public extern static dGeomID dCreateBox( dSpaceID space, dReal lx, dReal ly, dReal lz );
public extern static void dGeomBoxSetLengths( dGeomID box, dReal lx, dReal ly, dReal lz );
public extern static dReal dGeomSpherePointDepth( dGeomID sphere, dReal x, dReal y, dReal z );
public extern static void dGeomSphereSetRadius( dGeomID sphere, dReal radius );
public extern static dGeomID dCreateSphere( dSpaceID space, dReal radius );
public extern static void dGeomSetOffsetWorldPosition( dGeomID geom, dReal x, dReal y, dReal z );
public extern static dGeomID dCreatePlane( dSpaceID space, dReal a, dReal b, dReal c, dReal d );
public extern static dGeomID dCreateRay( dSpaceID space, dReal length );
public extern static void dGeomPlaneSetParams( dGeomID plane, dReal a, dReal b, dReal c, dReal d );
public extern static void dGeomRaySet( dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz );
public extern static dReal dGeomPlanePointDepth( dGeomID plane, dReal x, dReal y, dReal z );
public static extern int dBoxBox( dVector3 p1, dMatrix3 R1, dVector3 side1, dVector3 p2, dMatrix3 R2, dVector3 side2, ref dVector3 normal, ref dReal depth, ref int return_code, int maxc, ref dContactGeom[] contact, int skip );
public extern static dGeomID dCreateCapsule( dSpaceID space, dReal radius, dReal length );
public extern static void dRFromAxisAndAngle( out dMatrix3 R, dReal ax, dReal ay, dReal az, dReal angle );
public extern static void dGeomCapsuleGetParams( dGeomID capsule, ref dReal radius, ref dReal length );
public extern static void dRFrom2Axes( out dMatrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz );
public extern static dReal dGeomCapsulePointDepth( dGeomID capsule, dReal x, dReal y, dReal z );
/// <summary>
/// ODE API compatability function due to dMatrix3 marshalling errors
/// </summary>
/// <param name="R"></param>
/// <param name="ax"></param>
/// <param name="ay"></param>
/// <param name="az"></param>
public static void dRFromZAxis( dMatrix3 R, dReal ax, dReal ay, dReal az )
{
dRFromZAxis( R.ToArray(), ax, ay, az );
}
public extern static dGeomID dCreateCylinder( dSpaceID space, dReal radius, dReal length );
/// <summary>
///
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
public dVector3( dReal x, dReal y, dReal z )
{
X = x;
Y = y;
Z = z;
SIMD_PADDING = (dReal)0;
}
public extern static void dGeomCylinderGetParams( dGeomID cylinder, ref dReal radius, ref dReal length );
/// <summary>
/// Indexer to support use of array syntax as found in ODE examples
/// X = 0, Y = 1, Z = 2, W = 3
/// </summary>
public dReal this[ int index ]
{
get
{
if( index < 0 || index > 3 )
{
throw new ArgumentOutOfRangeException( "Index out of range" );
}
dReal retVal = 0;
switch( index )
{
case 0:
retVal = X;
break;
case 1:
retVal = Y;
break;
case 2:
retVal = Z;
break;
case 3:
retVal = W;
break;
}
return retVal;
}
set
{
if( index < 0 || index > 3 )
{
throw new ArgumentOutOfRangeException( "Index out of range" );
}
switch( index )
{
case 0:
X = value;
break;
case 1:
Y = value;
break;
case 2:
Z = value;
break;
case 3:
W = value;
break;
}
}
}
public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
