public static extern void dJointGetPRAxis2(dJointID j, out dVector3 result);
public extern static void dGeomTriMeshGetTriangle( dGeomID g, int Index, ref dVector3 v0, ref dVector3 v1, ref dVector3 v2 );
public extern static void dWtoDQ( ref dVector3 w, ref dQuaternion q, out dVector4 dq );
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 void dGeomTriMeshDataBuildDouble( dTriMeshDataID g, dVector3 Vertices, int VertexStride, int VertexCount, int[] Indices, int IndexCount, int TriStride );
public extern static void dGeomRayGet( dGeomID ray, ref dVector3 start, ref dVector3 dir );
/// <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 dWorldImpulseToForce( dWorldID world, dReal stepsize, dReal ix, dReal iy, dReal iz, ref dVector3 force );
public extern static void dBodyGetPosRelPoint( dBodyID body, dReal px, dReal py, dReal pz, ref dVector3 result );
/// <summary>
///
/// </summary>
public dJointFeedback( dVector3 _f1, dVector3 _t1, dVector3 _f2, dVector3 _t2 )
{
f1 = _f1;
t1 = _t1;
f2 = _f2;
t2 = _t2;
}
public extern static void dWorldGetGravity( dWorldID world, ref dVector3 gravity );
public static extern void dBodyCopyPosition(dBodyID body, out dVector3 pos);
public static extern void dGeomCopyPosition(dGeomID geom, out dVector3 pos);
public static extern void dGeomCopyOffsetPosition(dGeomID geom, ref dVector3 pos);
public extern static void dJointGetAMotorAxis( dJointID joint, int anum, ref dVector3 result );
public extern static void dBodyVectorFromWorld( dBodyID body, dReal px, dReal py, dReal pz, ref dVector3 result );
public extern static void dGeomBoxGetLengths( dGeomID box, ref dVector3 result );
public extern static void dBodyGetFiniteRotationAxis( dBodyID body, ref dVector3 result );
public extern static void dClosestLineSegmentPoints( dVector3 a1, dVector3 a2, dVector3 b1, dVector3 b2, ref dVector3 cp1, ref dVector3 cp2 );
public extern static void dJointGetBallAnchor2( dJointID joint, ref dVector3 result );
public extern static int dBoxTouchesBox( dVector3 _p1, dMatrix3 R1, dVector3 side1, dVector3 _p2, dMatrix3 R2, dVector3 side2 );
public extern static void dJointGetHingeAnchor( dJointID joint, ref dVector3 result );
//betauser public extern static dSpaceID dQuadTreeSpaceCreate( dSpaceID space, ref dVector3 Center, ref dVector3 Extents, int Depth );
public extern static void dJointGetSliderAxis( dJointID joint, ref dVector3 result );
public extern static void dGeomTriMeshDataBuildSimple1( dTriMeshDataID g, dVector3[] Vertices, int VertexCount, int[] Indices, int IndexCount, dVector3[] Normals );
public extern static void dJointGetHinge2Axis2( dJointID joint, ref dVector3 result );
public extern static void dGeomTriMeshGetPoint( dGeomID g, int Index, dReal u, dReal v, ref dVector3 Out );
public extern static void dJointGetUniversalAxis2( dJointID joint, ref dVector3 result );
/// <summary>
///
/// </summary>
/// <param name="_surface"></param>
/// <param name="_geom"></param>
/// <param name="_fdir1"></param>
public dContact( dSurfaceParameters _surface, dContactGeom _geom, dVector3 _fdir1 )
{
surface = _surface;
geom = _geom;
fdir1 = _fdir1;
}
public static extern void dJointGetLMotorAxis(dJointID j, int anum, out dVector3 result);
