From 7aa9157c109cd2bca53fb0e033c9eb034c065d77 Mon Sep 17 00:00:00 2001 From: divverent Date: Tue, 20 Oct 2009 09:35:44 +0000 Subject: [PATCH] move the ODE_API modifiers where they should be git-svn-id: svn://svn.icculus.org/twilight/trunk/darkplaces@9356 d7cf8633-e32d-0410-b094-e92efae38249 --- world.c | 892 ++++++++++++++++++++++++++++---------------------------- 1 file changed, 446 insertions(+), 446 deletions(-) diff --git a/world.c b/world.c index 85bc5990..9db8a11c 100644 --- a/world.c +++ b/world.c @@ -329,9 +329,9 @@ cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin // LordHavoc: this large chunk of definitions comes from the ODE library // include files. -//#ifndef ODE_STATIC -//#define ODE_DYNAMIC 1 -//#endif +#ifndef ODE_STATIC +#define ODE_DYNAMIC 1 +#endif #if defined(ODE_STATIC) || defined(ODE_DYNAMIC) #define USEODE 1 @@ -476,427 +476,427 @@ typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); #define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) #define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) -ODE_API const char* (*dGetConfiguration)(void); -ODE_API int (*dCheckConfiguration)( const char* token ); -ODE_API int (*dInitODE2)(unsigned int uiInitFlags); -ODE_API int (*dAllocateODEDataForThread)(unsigned int uiAllocateFlags); -ODE_API void (*dCleanupODEAllDataForThread)(void); -ODE_API void (*dCloseODE)(void); - -//ODE_API int (*dMassCheck)(const dMass *m); -//ODE_API void (*dMassSetZero)(dMass *); -//ODE_API void (*dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23); -//ODE_API void (*dMassSetSphere)(dMass *, dReal density, dReal radius); -ODE_API void (*dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius); -//ODE_API void (*dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length); -ODE_API void (*dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); -//ODE_API void (*dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length); -//ODE_API void (*dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); -//ODE_API void (*dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz); -ODE_API void (*dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz); -//ODE_API void (*dMassSetTrimesh)(dMass *, dReal density, dGeomID g); -//ODE_API void (*dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g); -//ODE_API void (*dMassAdjust)(dMass *, dReal newmass); -//ODE_API void (*dMassTranslate)(dMass *, dReal x, dReal y, dReal z); -//ODE_API void (*dMassRotate)(dMass *, const dMatrix3 R); -//ODE_API void (*dMassAdd)(dMass *a, const dMass *b); +const char* (ODE_API *dGetConfiguration)(void); +int (ODE_API *dCheckConfiguration)( const char* token ); +int (ODE_API *dInitODE2)(unsigned int uiInitFlags); +int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags); +void (ODE_API *dCleanupODEAllDataForThread)(void); +void (ODE_API *dCloseODE)(void); + +//int (ODE_API *dMassCheck)(const dMass *m); +//void (ODE_API *dMassSetZero)(dMass *); +//void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23); +//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius); +void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius); +//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length); +void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); +//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length); +//void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); +//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz); +void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz); +//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g); +//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g); +//void (ODE_API *dMassAdjust)(dMass *, dReal newmass); +//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z); +//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R); +//void (ODE_API *dMassAdd)(dMass *a, const dMass *b); // -ODE_API dWorldID (*dWorldCreate)(void); -ODE_API void (*dWorldDestroy)(dWorldID world); -ODE_API void (*dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z); -//ODE_API void (*dWorldGetGravity)(dWorldID, dVector3 gravity); -//ODE_API void (*dWorldSetERP)(dWorldID, dReal erp); -//ODE_API dReal (*dWorldGetERP)(dWorldID); -//ODE_API void (*dWorldSetCFM)(dWorldID, dReal cfm); -//ODE_API dReal (*dWorldGetCFM)(dWorldID); -ODE_API void (*dWorldStep)(dWorldID, dReal stepsize); -//ODE_API void (*dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force); -ODE_API void (*dWorldQuickStep)(dWorldID w, dReal stepsize); -ODE_API void (*dWorldSetQuickStepNumIterations)(dWorldID, int num); -//ODE_API int (*dWorldGetQuickStepNumIterations)(dWorldID); -//ODE_API void (*dWorldSetQuickStepW)(dWorldID, dReal over_relaxation); -//ODE_API dReal (*dWorldGetQuickStepW)(dWorldID); -//ODE_API void (*dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel); -//ODE_API dReal (*dWorldGetContactMaxCorrectingVel)(dWorldID); -ODE_API void (*dWorldSetContactSurfaceLayer)(dWorldID, dReal depth); -//ODE_API dReal (*dWorldGetContactSurfaceLayer)(dWorldID); -ODE_API void (*dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); -//ODE_API void (*dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth); -//ODE_API int (*dWorldGetAutoEnableDepthSF1)(dWorldID); -//ODE_API dReal (*dWorldGetAutoDisableLinearThreshold)(dWorldID); -//ODE_API void (*dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold); -//ODE_API dReal (*dWorldGetAutoDisableAngularThreshold)(dWorldID); -//ODE_API void (*dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold); -//ODE_API dReal (*dWorldGetAutoDisableLinearAverageThreshold)(dWorldID); -//ODE_API void (*dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold); -//ODE_API dReal (*dWorldGetAutoDisableAngularAverageThreshold)(dWorldID); -//ODE_API void (*dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold); -//ODE_API int (*dWorldGetAutoDisableAverageSamplesCount)(dWorldID); -//ODE_API void (*dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count ); -//ODE_API int (*dWorldGetAutoDisableSteps)(dWorldID); -//ODE_API void (*dWorldSetAutoDisableSteps)(dWorldID, int steps); -//ODE_API dReal (*dWorldGetAutoDisableTime)(dWorldID); -//ODE_API void (*dWorldSetAutoDisableTime)(dWorldID, dReal time); -//ODE_API int (*dWorldGetAutoDisableFlag)(dWorldID); -//ODE_API void (*dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable); -//ODE_API dReal (*dWorldGetLinearDampingThreshold)(dWorldID w); -//ODE_API void (*dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold); -//ODE_API dReal (*dWorldGetAngularDampingThreshold)(dWorldID w); -//ODE_API void (*dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold); -//ODE_API dReal (*dWorldGetLinearDamping)(dWorldID w); -//ODE_API void (*dWorldSetLinearDamping)(dWorldID w, dReal scale); -//ODE_API dReal (*dWorldGetAngularDamping)(dWorldID w); -//ODE_API void (*dWorldSetAngularDamping)(dWorldID w, dReal scale); -//ODE_API void (*dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale); -//ODE_API dReal (*dWorldGetMaxAngularSpeed)(dWorldID w); -//ODE_API void (*dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed); -//ODE_API dReal (*dBodyGetAutoDisableLinearThreshold)(dBodyID); -//ODE_API void (*dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold); -//ODE_API dReal (*dBodyGetAutoDisableAngularThreshold)(dBodyID); -//ODE_API void (*dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold); -//ODE_API int (*dBodyGetAutoDisableAverageSamplesCount)(dBodyID); -//ODE_API void (*dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count); -//ODE_API int (*dBodyGetAutoDisableSteps)(dBodyID); -//ODE_API void (*dBodySetAutoDisableSteps)(dBodyID, int steps); -//ODE_API dReal (*dBodyGetAutoDisableTime)(dBodyID); -//ODE_API void (*dBodySetAutoDisableTime)(dBodyID, dReal time); -//ODE_API int (*dBodyGetAutoDisableFlag)(dBodyID); -//ODE_API void (*dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable); -//ODE_API void (*dBodySetAutoDisableDefaults)(dBodyID); -//ODE_API dWorldID (*dBodyGetWorld)(dBodyID); -ODE_API dBodyID (*dBodyCreate)(dWorldID); -ODE_API void (*dBodyDestroy)(dBodyID); -ODE_API void (*dBodySetData)(dBodyID, void *data); -//ODE_API void * (*dBodyGetData)(dBodyID); -ODE_API void (*dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z); -ODE_API void (*dBodySetRotation)(dBodyID, const dMatrix3 R); -//ODE_API void (*dBodySetQuaternion)(dBodyID, const dQuaternion q); -ODE_API void (*dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z); -ODE_API void (*dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z); -ODE_API const dReal * (*dBodyGetPosition)(dBodyID); -//ODE_API void (*dBodyCopyPosition)(dBodyID body, dVector3 pos); -ODE_API const dReal * (*dBodyGetRotation)(dBodyID); -//ODE_API void (*dBodyCopyRotation)(dBodyID, dMatrix3 R); -//ODE_API const dReal * (*dBodyGetQuaternion)(dBodyID); -//ODE_API void (*dBodyCopyQuaternion)(dBodyID body, dQuaternion quat); -ODE_API const dReal * (*dBodyGetLinearVel)(dBodyID); -ODE_API const dReal * (*dBodyGetAngularVel)(dBodyID); -ODE_API void (*dBodySetMass)(dBodyID, const dMass *mass); -//ODE_API void (*dBodyGetMass)(dBodyID, dMass *mass); -//ODE_API void (*dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz); -//ODE_API void (*dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz); -//ODE_API void (*dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz); -//ODE_API void (*dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz); -//ODE_API void (*dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); -//ODE_API void (*dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); -//ODE_API void (*dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); -//ODE_API void (*dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); -//ODE_API const dReal * (*dBodyGetForce)(dBodyID); -//ODE_API const dReal * (*dBodyGetTorque)(dBodyID); -//ODE_API void (*dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z); -//ODE_API void (*dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z); -//ODE_API void (*dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); -//ODE_API void (*dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); -//ODE_API void (*dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); -//ODE_API void (*dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); -//ODE_API void (*dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); -//ODE_API void (*dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); -//ODE_API void (*dBodySetFiniteRotationMode)(dBodyID, int mode); -//ODE_API void (*dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z); -//ODE_API int (*dBodyGetFiniteRotationMode)(dBodyID); -//ODE_API void (*dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result); -//ODE_API int (*dBodyGetNumJoints)(dBodyID b); -//ODE_API dJointID (*dBodyGetJoint)(dBodyID, int index); -//ODE_API void (*dBodySetDynamic)(dBodyID); -//ODE_API void (*dBodySetKinematic)(dBodyID); -//ODE_API int (*dBodyIsKinematic)(dBodyID); -//ODE_API void (*dBodyEnable)(dBodyID); -//ODE_API void (*dBodyDisable)(dBodyID); -//ODE_API int (*dBodyIsEnabled)(dBodyID); -//ODE_API void (*dBodySetGravityMode)(dBodyID b, int mode); -//ODE_API int (*dBodyGetGravityMode)(dBodyID b); -//ODE_API void (*dBodySetMovedCallback)(dBodyID b, void(*callback)(dBodyID)); -//ODE_API dGeomID (*dBodyGetFirstGeom)(dBodyID b); -//ODE_API dGeomID (*dBodyGetNextGeom)(dGeomID g); -//ODE_API void (*dBodySetDampingDefaults)(dBodyID b); -//ODE_API dReal (*dBodyGetLinearDamping)(dBodyID b); -//ODE_API void (*dBodySetLinearDamping)(dBodyID b, dReal scale); -//ODE_API dReal (*dBodyGetAngularDamping)(dBodyID b); -//ODE_API void (*dBodySetAngularDamping)(dBodyID b, dReal scale); -//ODE_API void (*dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale); -//ODE_API dReal (*dBodyGetLinearDampingThreshold)(dBodyID b); -//ODE_API void (*dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold); -//ODE_API dReal (*dBodyGetAngularDampingThreshold)(dBodyID b); -//ODE_API void (*dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold); -//ODE_API dReal (*dBodyGetMaxAngularSpeed)(dBodyID b); -//ODE_API void (*dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed); -//ODE_API int (*dBodyGetGyroscopicMode)(dBodyID b); -//ODE_API void (*dBodySetGyroscopicMode)(dBodyID b, int enabled); -//ODE_API dJointID (*dJointCreateBall)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreateHinge)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreateSlider)(dWorldID, dJointGroupID); -ODE_API dJointID (*dJointCreateContact)(dWorldID, dJointGroupID, const dContact *); -//ODE_API dJointID (*dJointCreateHinge2)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreateUniversal)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreatePR)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreatePU)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreatePiston)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreateFixed)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreateNull)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreateAMotor)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreateLMotor)(dWorldID, dJointGroupID); -//ODE_API dJointID (*dJointCreatePlane2D)(dWorldID, dJointGroupID); -//ODE_API void (*dJointDestroy)(dJointID); -ODE_API dJointGroupID (*dJointGroupCreate)(int max_size); -ODE_API void (*dJointGroupDestroy)(dJointGroupID); -ODE_API void (*dJointGroupEmpty)(dJointGroupID); -//ODE_API int (*dJointGetNumBodies)(dJointID); -ODE_API void (*dJointAttach)(dJointID, dBodyID body1, dBodyID body2); -//ODE_API void (*dJointEnable)(dJointID); -//ODE_API void (*dJointDisable)(dJointID); -//ODE_API int (*dJointIsEnabled)(dJointID); -//ODE_API void (*dJointSetData)(dJointID, void *data); -//ODE_API void * (*dJointGetData)(dJointID); -//ODE_API dJointType (*dJointGetType)(dJointID); -//ODE_API dBodyID (*dJointGetBody)(dJointID, int index); -//ODE_API void (*dJointSetFeedback)(dJointID, dJointFeedback *); -//ODE_API dJointFeedback *(*dJointGetFeedback)(dJointID); -//ODE_API void (*dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetBallParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); -//ODE_API void (*dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle); -//ODE_API void (*dJointSetHingeParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointAddHingeTorque)(dJointID joint, dReal torque); -//ODE_API void (*dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); -//ODE_API void (*dJointSetSliderParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointAddSliderForce)(dJointID joint, dReal force); -//ODE_API void (*dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetHinge2Param)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2); -//ODE_API void (*dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); -//ODE_API void (*dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); -//ODE_API void (*dJointSetUniversalParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2); -//ODE_API void (*dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetPRParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointAddPRTorque)(dJointID j, dReal torque); -//ODE_API void (*dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); -//ODE_API void (*dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetPUParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointAddPUTorque)(dJointID j, dReal torque); -//ODE_API void (*dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); -//ODE_API void (*dJointSetPistonParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointAddPistonForce)(dJointID joint, dReal force); -//ODE_API void (*dJointSetFixed)(dJointID); -//ODE_API void (*dJointSetFixedParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointSetAMotorNumAxes)(dJointID, int num); -//ODE_API void (*dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetAMotorAngle)(dJointID, int anum, dReal angle); -//ODE_API void (*dJointSetAMotorParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointSetAMotorMode)(dJointID, int mode); -//ODE_API void (*dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3); -//ODE_API void (*dJointSetLMotorNumAxes)(dJointID, int num); -//ODE_API void (*dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); -//ODE_API void (*dJointSetLMotorParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointSetPlane2DXParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointSetPlane2DYParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value); -//ODE_API void (*dJointGetBallAnchor)(dJointID, dVector3 result); -//ODE_API void (*dJointGetBallAnchor2)(dJointID, dVector3 result); -//ODE_API dReal (*dJointGetBallParam)(dJointID, int parameter); -//ODE_API void (*dJointGetHingeAnchor)(dJointID, dVector3 result); -//ODE_API void (*dJointGetHingeAnchor2)(dJointID, dVector3 result); -//ODE_API void (*dJointGetHingeAxis)(dJointID, dVector3 result); -//ODE_API dReal (*dJointGetHingeParam)(dJointID, int parameter); -//ODE_API dReal (*dJointGetHingeAngle)(dJointID); -//ODE_API dReal (*dJointGetHingeAngleRate)(dJointID); -//ODE_API dReal (*dJointGetSliderPosition)(dJointID); -//ODE_API dReal (*dJointGetSliderPositionRate)(dJointID); -//ODE_API void (*dJointGetSliderAxis)(dJointID, dVector3 result); -//ODE_API dReal (*dJointGetSliderParam)(dJointID, int parameter); -//ODE_API void (*dJointGetHinge2Anchor)(dJointID, dVector3 result); -//ODE_API void (*dJointGetHinge2Anchor2)(dJointID, dVector3 result); -//ODE_API void (*dJointGetHinge2Axis1)(dJointID, dVector3 result); -//ODE_API void (*dJointGetHinge2Axis2)(dJointID, dVector3 result); -//ODE_API dReal (*dJointGetHinge2Param)(dJointID, int parameter); -//ODE_API dReal (*dJointGetHinge2Angle1)(dJointID); -//ODE_API dReal (*dJointGetHinge2Angle1Rate)(dJointID); -//ODE_API dReal (*dJointGetHinge2Angle2Rate)(dJointID); -//ODE_API void (*dJointGetUniversalAnchor)(dJointID, dVector3 result); -//ODE_API void (*dJointGetUniversalAnchor2)(dJointID, dVector3 result); -//ODE_API void (*dJointGetUniversalAxis1)(dJointID, dVector3 result); -//ODE_API void (*dJointGetUniversalAxis2)(dJointID, dVector3 result); -//ODE_API dReal (*dJointGetUniversalParam)(dJointID, int parameter); -//ODE_API void (*dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2); -//ODE_API dReal (*dJointGetUniversalAngle1)(dJointID); -//ODE_API dReal (*dJointGetUniversalAngle2)(dJointID); -//ODE_API dReal (*dJointGetUniversalAngle1Rate)(dJointID); -//ODE_API dReal (*dJointGetUniversalAngle2Rate)(dJointID); -//ODE_API void (*dJointGetPRAnchor)(dJointID, dVector3 result); -//ODE_API dReal (*dJointGetPRPosition)(dJointID); -//ODE_API dReal (*dJointGetPRPositionRate)(dJointID); -//ODE_API dReal (*dJointGetPRAngle)(dJointID); -//ODE_API dReal (*dJointGetPRAngleRate)(dJointID); -//ODE_API void (*dJointGetPRAxis1)(dJointID, dVector3 result); -//ODE_API void (*dJointGetPRAxis2)(dJointID, dVector3 result); -//ODE_API dReal (*dJointGetPRParam)(dJointID, int parameter); -//ODE_API void (*dJointGetPUAnchor)(dJointID, dVector3 result); -//ODE_API dReal (*dJointGetPUPosition)(dJointID); -//ODE_API dReal (*dJointGetPUPositionRate)(dJointID); -//ODE_API void (*dJointGetPUAxis1)(dJointID, dVector3 result); -//ODE_API void (*dJointGetPUAxis2)(dJointID, dVector3 result); -//ODE_API void (*dJointGetPUAxis3)(dJointID, dVector3 result); -//ODE_API void (*dJointGetPUAxisP)(dJointID id, dVector3 result); -//ODE_API void (*dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2); -//ODE_API dReal (*dJointGetPUAngle1)(dJointID); -//ODE_API dReal (*dJointGetPUAngle1Rate)(dJointID); -//ODE_API dReal (*dJointGetPUAngle2)(dJointID); -//ODE_API dReal (*dJointGetPUAngle2Rate)(dJointID); -//ODE_API dReal (*dJointGetPUParam)(dJointID, int parameter); -//ODE_API dReal (*dJointGetPistonPosition)(dJointID); -//ODE_API dReal (*dJointGetPistonPositionRate)(dJointID); -//ODE_API dReal (*dJointGetPistonAngle)(dJointID); -//ODE_API dReal (*dJointGetPistonAngleRate)(dJointID); -//ODE_API void (*dJointGetPistonAnchor)(dJointID, dVector3 result); -//ODE_API void (*dJointGetPistonAnchor2)(dJointID, dVector3 result); -//ODE_API void (*dJointGetPistonAxis)(dJointID, dVector3 result); -//ODE_API dReal (*dJointGetPistonParam)(dJointID, int parameter); -//ODE_API int (*dJointGetAMotorNumAxes)(dJointID); -//ODE_API void (*dJointGetAMotorAxis)(dJointID, int anum, dVector3 result); -//ODE_API int (*dJointGetAMotorAxisRel)(dJointID, int anum); -//ODE_API dReal (*dJointGetAMotorAngle)(dJointID, int anum); -//ODE_API dReal (*dJointGetAMotorAngleRate)(dJointID, int anum); -//ODE_API dReal (*dJointGetAMotorParam)(dJointID, int parameter); -//ODE_API int (*dJointGetAMotorMode)(dJointID); -//ODE_API int (*dJointGetLMotorNumAxes)(dJointID); -//ODE_API void (*dJointGetLMotorAxis)(dJointID, int anum, dVector3 result); -//ODE_API dReal (*dJointGetLMotorParam)(dJointID, int parameter); -//ODE_API dReal (*dJointGetFixedParam)(dJointID, int parameter); -//ODE_API dJointID (*dConnectingJoint)(dBodyID, dBodyID); -//ODE_API int (*dConnectingJointList)(dBodyID, dBodyID, dJointID*); -ODE_API int (*dAreConnected)(dBodyID, dBodyID); -ODE_API int (*dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type); +dWorldID (ODE_API *dWorldCreate)(void); +void (ODE_API *dWorldDestroy)(dWorldID world); +void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z); +//void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity); +//void (ODE_API *dWorldSetERP)(dWorldID, dReal erp); +//dReal (ODE_API *dWorldGetERP)(dWorldID); +//void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm); +//dReal (ODE_API *dWorldGetCFM)(dWorldID); +void (ODE_API *dWorldStep)(dWorldID, dReal stepsize); +//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force); +void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize); +void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num); +//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID); +//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation); +//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID); +//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel); +//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID); +void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth); +//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID); +void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); +//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth); +//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID); +//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold); +//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold); +//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold); +//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold); +//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count ); +//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps); +//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time); +//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable); +//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w); +//void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold); +//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w); +//void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold); +//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w); +//void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale); +//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w); +//void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale); +//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale); +//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w); +//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed); +//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID); +//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold); +//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID); +//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold); +//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID); +//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count); +//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID); +//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps); +//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID); +//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time); +//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID); +//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable); +//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID); +//dWorldID (ODE_API *dBodyGetWorld)(dBodyID); +dBodyID (ODE_API *dBodyCreate)(dWorldID); +void (ODE_API *dBodyDestroy)(dBodyID); +void (ODE_API *dBodySetData)(dBodyID, void *data); +//void * (ODE_API *dBodyGetData)(dBodyID); +void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z); +void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R); +//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q); +void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z); +void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z); +const dReal * (ODE_API *dBodyGetPosition)(dBodyID); +//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos); +const dReal * (ODE_API *dBodyGetRotation)(dBodyID); +//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R); +//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID); +//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat); +const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID); +const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID); +void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass); +//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass); +//void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//const dReal * (ODE_API *dBodyGetForce)(dBodyID); +//const dReal * (ODE_API *dBodyGetTorque)(dBodyID); +//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z); +//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z); +//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode); +//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z); +//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID); +//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result); +//int (ODE_API *dBodyGetNumJoints)(dBodyID b); +//dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index); +//void (ODE_API *dBodySetDynamic)(dBodyID); +//void (ODE_API *dBodySetKinematic)(dBodyID); +//int (ODE_API *dBodyIsKinematic)(dBodyID); +//void (ODE_API *dBodyEnable)(dBodyID); +//void (ODE_API *dBodyDisable)(dBodyID); +//int (ODE_API *dBodyIsEnabled)(dBodyID); +//void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode); +//int (ODE_API *dBodyGetGravityMode)(dBodyID b); +//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID)); +//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b); +//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g); +//void (ODE_API *dBodySetDampingDefaults)(dBodyID b); +//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b); +//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale); +//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b); +//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale); +//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale); +//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b); +//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold); +//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b); +//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold); +//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b); +//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed); +//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b); +//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled); +//dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID); +dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *); +//dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID); +//void (ODE_API *dJointDestroy)(dJointID); +dJointGroupID (ODE_API *dJointGroupCreate)(int max_size); +void (ODE_API *dJointGroupDestroy)(dJointGroupID); +void (ODE_API *dJointGroupEmpty)(dJointGroupID); +//int (ODE_API *dJointGetNumBodies)(dJointID); +void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2); +//void (ODE_API *dJointEnable)(dJointID); +//void (ODE_API *dJointDisable)(dJointID); +//int (ODE_API *dJointIsEnabled)(dJointID); +//void (ODE_API *dJointSetData)(dJointID, void *data); +//void * (ODE_API *dJointGetData)(dJointID); +//dJointType (ODE_API *dJointGetType)(dJointID); +//dBodyID (ODE_API *dJointGetBody)(dJointID, int index); +//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *); +//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID); +//void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); +//void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle); +//void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque); +//void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); +//void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force); +//void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2); +//void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); +//void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); +//void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2); +//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque); +//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); +//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque); +//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); +//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force); +//void (ODE_API *dJointSetFixed)(dJointID); +//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num); +//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle); +//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode); +//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3); +//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num); +//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter); +//void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter); +//dReal (ODE_API *dJointGetHingeAngle)(dJointID); +//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID); +//dReal (ODE_API *dJointGetSliderPosition)(dJointID); +//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID); +//void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter); +//void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter); +//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID); +//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID); +//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID); +//void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter); +//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2); +//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID); +//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID); +//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID); +//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID); +//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPRPosition)(dJointID); +//dReal (ODE_API *dJointGetPRPositionRate)(dJointID); +//dReal (ODE_API *dJointGetPRAngle)(dJointID); +//dReal (ODE_API *dJointGetPRAngleRate)(dJointID); +//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter); +//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPUPosition)(dJointID); +//dReal (ODE_API *dJointGetPUPositionRate)(dJointID); +//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result); +//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2); +//dReal (ODE_API *dJointGetPUAngle1)(dJointID); +//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID); +//dReal (ODE_API *dJointGetPUAngle2)(dJointID); +//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID); +//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter); +//dReal (ODE_API *dJointGetPistonPosition)(dJointID); +//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID); +//dReal (ODE_API *dJointGetPistonAngle)(dJointID); +//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID); +//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter); +//int (ODE_API *dJointGetAMotorNumAxes)(dJointID); +//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result); +//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum); +//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum); +//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum); +//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter); +//int (ODE_API *dJointGetAMotorMode)(dJointID); +//int (ODE_API *dJointGetLMotorNumAxes)(dJointID); +//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result); +//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter); +//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter); +//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID); +//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*); +int (ODE_API *dAreConnected)(dBodyID, dBodyID); +int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type); // -ODE_API dSpaceID (*dSimpleSpaceCreate)(dSpaceID space); -ODE_API dSpaceID (*dHashSpaceCreate)(dSpaceID space); -ODE_API dSpaceID (*dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); -ODE_API dSpaceID (*dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder ); -ODE_API void (*dSpaceDestroy)(dSpaceID); -//ODE_API void (*dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel); -//ODE_API void (*dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel); -//ODE_API void (*dSpaceSetCleanup)(dSpaceID space, int mode); -//ODE_API int (*dSpaceGetCleanup)(dSpaceID space); -//ODE_API void (*dSpaceSetSublevel)(dSpaceID space, int sublevel); -//ODE_API int (*dSpaceGetSublevel)(dSpaceID space); -//ODE_API void (*dSpaceSetManualCleanup)(dSpaceID space, int mode); -//ODE_API int (*dSpaceGetManualCleanup)(dSpaceID space); -//ODE_API void (*dSpaceAdd)(dSpaceID, dGeomID); -//ODE_API void (*dSpaceRemove)(dSpaceID, dGeomID); -//ODE_API int (*dSpaceQuery)(dSpaceID, dGeomID); -//ODE_API void (*dSpaceClean)(dSpaceID); -//ODE_API int (*dSpaceGetNumGeoms)(dSpaceID); -//ODE_API dGeomID (*dSpaceGetGeom)(dSpaceID, int i); -//ODE_API int (*dSpaceGetClass)(dSpaceID space); +dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space); +dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space); +dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); +dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder ); +void (ODE_API *dSpaceDestroy)(dSpaceID); +//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel); +//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel); +//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode); +//int (ODE_API *dSpaceGetCleanup)(dSpaceID space); +//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel); +//int (ODE_API *dSpaceGetSublevel)(dSpaceID space); +//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode); +//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space); +//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID); +//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID); +//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID); +//void (ODE_API *dSpaceClean)(dSpaceID); +//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID); +//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i); +//int (ODE_API *dSpaceGetClass)(dSpaceID space); // -ODE_API void (*dGeomDestroy)(dGeomID geom); -//ODE_API void (*dGeomSetData)(dGeomID geom, void* data); -//ODE_API void * (*dGeomGetData)(dGeomID geom); -ODE_API void (*dGeomSetBody)(dGeomID geom, dBodyID body); -ODE_API dBodyID (*dGeomGetBody)(dGeomID geom); -//ODE_API void (*dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z); -ODE_API void (*dGeomSetRotation)(dGeomID geom, const dMatrix3 R); -//ODE_API void (*dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q); -//ODE_API const dReal * (*dGeomGetPosition)(dGeomID geom); -//ODE_API void (*dGeomCopyPosition)(dGeomID geom, dVector3 pos); -//ODE_API const dReal * (*dGeomGetRotation)(dGeomID geom); -//ODE_API void (*dGeomCopyRotation)(dGeomID geom, dMatrix3 R); -//ODE_API void (*dGeomGetQuaternion)(dGeomID geom, dQuaternion result); -//ODE_API void (*dGeomGetAABB)(dGeomID geom, dReal aabb[6]); -ODE_API int (*dGeomIsSpace)(dGeomID geom); -//ODE_API dSpaceID (*dGeomGetSpace)(dGeomID); -//ODE_API int (*dGeomGetClass)(dGeomID geom); -//ODE_API void (*dGeomSetCategoryBits)(dGeomID geom, unsigned long bits); -//ODE_API void (*dGeomSetCollideBits)(dGeomID geom, unsigned long bits); -//ODE_API unsigned long (*dGeomGetCategoryBits)(dGeomID); -//ODE_API unsigned long (*dGeomGetCollideBits)(dGeomID); -//ODE_API void (*dGeomEnable)(dGeomID geom); -//ODE_API void (*dGeomDisable)(dGeomID geom); -//ODE_API int (*dGeomIsEnabled)(dGeomID geom); -//ODE_API void (*dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z); -//ODE_API void (*dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R); -//ODE_API void (*dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q); -//ODE_API void (*dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z); -//ODE_API void (*dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R); -//ODE_API void (*dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion); -//ODE_API void (*dGeomClearOffset)(dGeomID geom); -//ODE_API int (*dGeomIsOffset)(dGeomID geom); -//ODE_API const dReal * (*dGeomGetOffsetPosition)(dGeomID geom); -//ODE_API void (*dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos); -//ODE_API const dReal * (*dGeomGetOffsetRotation)(dGeomID geom); -//ODE_API void (*dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R); -//ODE_API void (*dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result); -ODE_API int (*dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip); +void (ODE_API *dGeomDestroy)(dGeomID geom); +//void (ODE_API *dGeomSetData)(dGeomID geom, void* data); +//void * (ODE_API *dGeomGetData)(dGeomID geom); +void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body); +dBodyID (ODE_API *dGeomGetBody)(dGeomID geom); +//void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z); +void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R); +//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q); +//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom); +//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos); +//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom); +//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R); +//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result); +//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]); +int (ODE_API *dGeomIsSpace)(dGeomID geom); +//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID); +//int (ODE_API *dGeomGetClass)(dGeomID geom); +//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits); +//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits); +//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID); +//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID); +//void (ODE_API *dGeomEnable)(dGeomID geom); +//void (ODE_API *dGeomDisable)(dGeomID geom); +//int (ODE_API *dGeomIsEnabled)(dGeomID geom); +//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z); +//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R); +//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q); +//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z); +//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R); +//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion); +//void (ODE_API *dGeomClearOffset)(dGeomID geom); +//int (ODE_API *dGeomIsOffset)(dGeomID geom); +//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom); +//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos); +//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom); +//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R); +//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result); +int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip); // -ODE_API void (*dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback); -ODE_API void (*dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); +void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback); +void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); // -ODE_API dGeomID (*dCreateSphere)(dSpaceID space, dReal radius); -//ODE_API void (*dGeomSphereSetRadius)(dGeomID sphere, dReal radius); -//ODE_API dReal (*dGeomSphereGetRadius)(dGeomID sphere); -//ODE_API dReal (*dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z); +dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius); +//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius); +//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere); +//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z); // -//ODE_API dGeomID (*dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); -//ODE_API void (*dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); +//dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); +//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); // -ODE_API dGeomID (*dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz); -//ODE_API void (*dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz); -//ODE_API void (*dGeomBoxGetLengths)(dGeomID box, dVector3 result); -//ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); -//ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); +dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz); +//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz); +//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result); +//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); +//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); // -//ODE_API dGeomID (*dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d); -//ODE_API void (*dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d); -//ODE_API void (*dGeomPlaneGetParams)(dGeomID plane, dVector4 result); -//ODE_API dReal (*dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z); +//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d); +//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d); +//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result); +//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z); // -ODE_API dGeomID (*dCreateCapsule)(dSpaceID space, dReal radius, dReal length); -//ODE_API void (*dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length); -//ODE_API void (*dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length); -//ODE_API dReal (*dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z); +dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length); +//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length); +//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length); +//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z); // -//ODE_API dGeomID (*dCreateCylinder)(dSpaceID space, dReal radius, dReal length); -//ODE_API void (*dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length); -//ODE_API void (*dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length); +//dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length); +//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length); +//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length); // -//ODE_API dGeomID (*dCreateRay)(dSpaceID space, dReal length); -//ODE_API void (*dGeomRaySetLength)(dGeomID ray, dReal length); -//ODE_API dReal (*dGeomRayGetLength)(dGeomID ray); -//ODE_API void (*dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); -//ODE_API void (*dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir); +//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length); +//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length); +//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray); +//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); +//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir); // -ODE_API dGeomID (*dCreateGeomTransform)(dSpaceID space); -ODE_API void (*dGeomTransformSetGeom)(dGeomID g, dGeomID obj); -//ODE_API dGeomID (*dGeomTransformGetGeom)(dGeomID g); -ODE_API void (*dGeomTransformSetCleanup)(dGeomID g, int mode); -//ODE_API int (*dGeomTransformGetCleanup)(dGeomID g); -//ODE_API void (*dGeomTransformSetInfo)(dGeomID g, int mode); -//ODE_API int (*dGeomTransformGetInfo)(dGeomID g); +dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space); +void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj); +//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g); +void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode); +//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g); +//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode); +//int (ODE_API *dGeomTransformGetInfo)(dGeomID g); enum { TRIMESH_FACE_NORMALS }; typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); @@ -904,40 +904,40 @@ typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* Tr typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); -ODE_API dTriMeshDataID (*dGeomTriMeshDataCreate)(void); -ODE_API void (*dGeomTriMeshDataDestroy)(dTriMeshDataID g); -//ODE_API void (*dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data); -//ODE_API void* (*dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id); -//ODE_API void (*dGeomTriMeshSetLastTransform)( (*dGeomID g, dMatrix4 last_trans ); -//ODE_API dReal* (*dGeomTriMeshGetLastTransform)( (*dGeomID g ); -ODE_API void (*dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); -//ODE_API void (*dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); -//ODE_API void (*dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); -//ODE_API void (*dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); -//ODE_API void (*dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount); -//ODE_API void (*dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals); -//ODE_API void (*dGeomTriMeshDataPreprocess)(dTriMeshDataID g); -//ODE_API void (*dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen); -//ODE_API void (*dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf); -//ODE_API void (*dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback); -//ODE_API dTriCallback* (*dGeomTriMeshGetCallback)(dGeomID g); -//ODE_API void (*dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback); -//ODE_API dTriArrayCallback* (*dGeomTriMeshGetArrayCallback)(dGeomID g); -//ODE_API void (*dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback); -//ODE_API dTriRayCallback* (*dGeomTriMeshGetRayCallback)(dGeomID g); -//ODE_API void (*dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback); -//ODE_API dTriTriMergeCallback* (*dGeomTriMeshGetTriMergeCallback)(dGeomID g); -ODE_API dGeomID (*dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); -//ODE_API void (*dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data); -//ODE_API dTriMeshDataID (*dGeomTriMeshGetData)(dGeomID g); -//ODE_API void (*dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable); -//ODE_API int (*dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass); -//ODE_API void (*dGeomTriMeshClearTCCache)(dGeomID g); -//ODE_API dTriMeshDataID (*dGeomTriMeshGetTriMeshDataID)(dGeomID g); -//ODE_API void (*dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); -//ODE_API void (*dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); -//ODE_API int (*dGeomTriMeshGetTriangleCount )(dGeomID g); -//ODE_API void (*dGeomTriMeshDataUpdate)(dTriMeshDataID g); +dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void); +void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g); +//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data); +//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id); +//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans ); +//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g ); +void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); +//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); +//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); +//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); +//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount); +//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals); +//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g); +//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen); +//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf); +//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback); +//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g); +//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback); +//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g); +//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback); +//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g); +//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback); +//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g); +dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); +//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data); +//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g); +//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable); +//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass); +//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g); +//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g); +//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); +//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); +//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g); +//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g); static dllfunction_t odefuncs[] = { -- 2.39.2