Author: dhudson
Date: 2007-11-08 11:50:16 -0500 (Thu, 08 Nov 2007)
New Revision: 89210
Modified:
trunk/tao/src/Tao.Ode/Ode.cs
Log:
Add init method
Modified: trunk/tao/src/Tao.Ode/Ode.cs
===================================================================
--- trunk/tao/src/Tao.Ode/Ode.cs 2007-11-08 16:43:04 UTC (rev 89209)
+++ trunk/tao/src/Tao.Ode/Ode.cs 2007-11-08 16:50:16 UTC (rev 89210)
@@ -1798,6 +1798,12 @@
public extern static dWorldID dWorldCreate();
/// <summary>
+ ///
+ /// </summary>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ public extern static void dInitODE();
+
+ /// <summary>
/// Destroy a world and everything in it.
/// This includes all bodies, and all joints that are not part of a
joint group.
/// Joints that are part of a joint group will be deactivated, and can
be destroyed by calling, for example,
@@ -6297,6 +6303,54 @@
#endregion Public Externs
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="body"></param>
+ /// <param name="pos"></param>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ public static extern void dBodyCopyPosition(dBodyID body, out dVector3
pos);
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="body"></param>
+ /// <param name="X"></param>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ public static extern void dBodyCopyPosition(dBodyID body, out dReal X);
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="body"></param>
+ /// <param name="quat"></param>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ public static extern void dBodyCopyQuaternion(dBodyID body, out
dQuaternion quat);
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="body"></param>
+ /// <param name="X"></param>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ public static extern void dBodyCopyQuaternion(dBodyID body, out dReal
X);
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="body"></param>
+ /// <param name="R"></param>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ public static extern void dBodyCopyRotation(dBodyID body, out dMatrix3
R);
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="body"></param>
+ /// <param name="M00"></param>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ public static extern void dBodyCopyRotation(dBodyID body, out dReal
M00);
+
// NOT IMPLEMENTED
// This region contains functions in the ODE 0.8 source that are part
of the
// ODE public API (labeled ODE_API in the ODE source), but aren't
implemented in
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