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// <auto-generated>
// This code is generated by csbindgen.
// DON'T CHANGE THIS DIRECTLY.
// </auto-generated>
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#pragma warning disable CS8500
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#pragma warning disable CS8981
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using System ;
using System.Runtime.InteropServices ;
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namespace CsBindgen
{
internal static unsafe partial class LibBullet3
{
const string __DllName = "libbullet3" ;
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internal const uint SHARED_MEMORY_KEY = 12347 ;
internal const uint SHARED_MEMORY_MAGIC_NUMBER = 202010061 ;
internal const uint MAX_VR_ANALOG_AXIS = 5 ;
internal const uint MAX_VR_BUTTONS = 64 ;
internal const uint MAX_VR_CONTROLLERS = 8 ;
internal const uint MAX_KEYBOARD_EVENTS = 256 ;
internal const uint MAX_MOUSE_EVENTS = 256 ;
internal const uint MAX_SDF_BODIES = 512 ;
internal const uint MAX_USER_DATA_KEY_LENGTH = 256 ;
internal const uint MAX_REQUESTED_BODIES_LENGTH = 256 ;
internal const uint MAX_RAY_INTERSECTION_BATCH_SIZE = 256 ;
internal const uint MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING = 16384 ;
internal const uint MAX_RAY_HITS = 256 ;
internal const uint VISUAL_SHAPE_MAX_PATH_LEN = 1024 ;
internal const uint B3_MAX_PLUGIN_ARG_SIZE = 128 ;
internal const uint B3_MAX_PLUGIN_ARG_TEXT_LEN = 1024 ;
internal const uint MAX_ISLANDS_ANALYTICS = 64 ;
internal const uint B3_MAX_NUM_VERTICES = 131072 ;
internal const uint B3_MAX_NUM_INDICES = 524288 ;
internal const int EnumSharedMemoryClientCommand_CMD_INVALID = 0 ;
internal const int EnumSharedMemoryClientCommand_CMD_LOAD_SDF = 1 ;
internal const int EnumSharedMemoryClientCommand_CMD_LOAD_URDF = 2 ;
internal const int EnumSharedMemoryClientCommand_CMD_LOAD_BULLET = 3 ;
internal const int EnumSharedMemoryClientCommand_CMD_SAVE_BULLET = 4 ;
internal const int EnumSharedMemoryClientCommand_CMD_LOAD_MJCF = 5 ;
internal const int EnumSharedMemoryClientCommand_CMD_LOAD_SOFT_BODY = 6 ;
internal const int EnumSharedMemoryClientCommand_CMD_SEND_BULLET_DATA_STREAM = 7 ;
internal const int EnumSharedMemoryClientCommand_CMD_CREATE_BOX_COLLISION_SHAPE = 8 ;
internal const int EnumSharedMemoryClientCommand_CMD_CREATE_RIGID_BODY = 9 ;
internal const int EnumSharedMemoryClientCommand_CMD_DELETE_RIGID_BODY = 10 ;
internal const int EnumSharedMemoryClientCommand_CMD_CREATE_SENSOR = 11 ;
internal const int EnumSharedMemoryClientCommand_CMD_INIT_POSE = 12 ;
internal const int EnumSharedMemoryClientCommand_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS = 13 ;
internal const int EnumSharedMemoryClientCommand_CMD_SEND_DESIRED_STATE = 14 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_ACTUAL_STATE = 15 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_DEBUG_LINES = 16 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_BODY_INFO = 17 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_INTERNAL_DATA = 18 ;
internal const int EnumSharedMemoryClientCommand_CMD_STEP_FORWARD_SIMULATION = 19 ;
internal const int EnumSharedMemoryClientCommand_CMD_RESET_SIMULATION = 20 ;
internal const int EnumSharedMemoryClientCommand_CMD_PICK_BODY = 21 ;
internal const int EnumSharedMemoryClientCommand_CMD_MOVE_PICKED_BODY = 22 ;
internal const int EnumSharedMemoryClientCommand_CMD_REMOVE_PICKING_CONSTRAINT_BODY = 23 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_CAMERA_IMAGE_DATA = 24 ;
internal const int EnumSharedMemoryClientCommand_CMD_APPLY_EXTERNAL_FORCE = 25 ;
internal const int EnumSharedMemoryClientCommand_CMD_CALCULATE_INVERSE_DYNAMICS = 26 ;
internal const int EnumSharedMemoryClientCommand_CMD_CALCULATE_INVERSE_KINEMATICS = 27 ;
internal const int EnumSharedMemoryClientCommand_CMD_CALCULATE_JACOBIAN = 28 ;
internal const int EnumSharedMemoryClientCommand_CMD_CALCULATE_MASS_MATRIX = 29 ;
internal const int EnumSharedMemoryClientCommand_CMD_USER_CONSTRAINT = 30 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_CONTACT_POINT_INFORMATION = 31 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_RAY_CAST_INTERSECTIONS = 32 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_AABB_OVERLAP = 33 ;
internal const int EnumSharedMemoryClientCommand_CMD_SAVE_WORLD = 34 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_VISUAL_SHAPE_INFO = 35 ;
internal const int EnumSharedMemoryClientCommand_CMD_UPDATE_VISUAL_SHAPE = 36 ;
internal const int EnumSharedMemoryClientCommand_CMD_LOAD_TEXTURE = 37 ;
internal const int EnumSharedMemoryClientCommand_CMD_SET_SHADOW = 38 ;
internal const int EnumSharedMemoryClientCommand_CMD_USER_DEBUG_DRAW = 39 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_VR_EVENTS_DATA = 40 ;
internal const int EnumSharedMemoryClientCommand_CMD_SET_VR_CAMERA_STATE = 41 ;
internal const int EnumSharedMemoryClientCommand_CMD_SYNC_BODY_INFO = 42 ;
internal const int EnumSharedMemoryClientCommand_CMD_STATE_LOGGING = 43 ;
internal const int EnumSharedMemoryClientCommand_CMD_CONFIGURE_OPENGL_VISUALIZER = 44 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_KEYBOARD_EVENTS_DATA = 45 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_OPENGL_VISUALIZER_CAMERA = 46 ;
internal const int EnumSharedMemoryClientCommand_CMD_REMOVE_BODY = 47 ;
internal const int EnumSharedMemoryClientCommand_CMD_CHANGE_DYNAMICS_INFO = 48 ;
internal const int EnumSharedMemoryClientCommand_CMD_GET_DYNAMICS_INFO = 49 ;
internal const int EnumSharedMemoryClientCommand_CMD_PROFILE_TIMING = 50 ;
internal const int EnumSharedMemoryClientCommand_CMD_CREATE_COLLISION_SHAPE = 51 ;
internal const int EnumSharedMemoryClientCommand_CMD_CREATE_VISUAL_SHAPE = 52 ;
internal const int EnumSharedMemoryClientCommand_CMD_CREATE_MULTI_BODY = 53 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_COLLISION_INFO = 54 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_MOUSE_EVENTS_DATA = 55 ;
internal const int EnumSharedMemoryClientCommand_CMD_CHANGE_TEXTURE = 56 ;
internal const int EnumSharedMemoryClientCommand_CMD_SET_ADDITIONAL_SEARCH_PATH = 57 ;
internal const int EnumSharedMemoryClientCommand_CMD_CUSTOM_COMMAND = 58 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS = 59 ;
internal const int EnumSharedMemoryClientCommand_CMD_SAVE_STATE = 60 ;
internal const int EnumSharedMemoryClientCommand_CMD_RESTORE_STATE = 61 ;
internal const int EnumSharedMemoryClientCommand_CMD_REMOVE_STATE = 62 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_COLLISION_SHAPE_INFO = 63 ;
internal const int EnumSharedMemoryClientCommand_CMD_SYNC_USER_DATA = 64 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_USER_DATA = 65 ;
internal const int EnumSharedMemoryClientCommand_CMD_ADD_USER_DATA = 66 ;
internal const int EnumSharedMemoryClientCommand_CMD_REMOVE_USER_DATA = 67 ;
internal const int EnumSharedMemoryClientCommand_CMD_COLLISION_FILTER = 68 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_MESH_DATA = 69 ;
internal const int EnumSharedMemoryClientCommand_CMD_PERFORM_COLLISION_DETECTION = 70 ;
internal const int EnumSharedMemoryClientCommand_CMD_RESET_MESH_DATA = 71 ;
internal const int EnumSharedMemoryClientCommand_CMD_REQUEST_TETRA_MESH_DATA = 72 ;
internal const int EnumSharedMemoryClientCommand_CMD_MAX_CLIENT_COMMANDS = 73 ;
internal const int EnumSharedMemoryServerStatus_CMD_SHARED_MEMORY_NOT_INITIALIZED = 0 ;
internal const int EnumSharedMemoryServerStatus_CMD_WAITING_FOR_CLIENT_COMMAND = 1 ;
internal const int EnumSharedMemoryServerStatus_CMD_CLIENT_COMMAND_COMPLETED = 2 ;
internal const int EnumSharedMemoryServerStatus_CMD_UNKNOWN_COMMAND_FLUSHED = 3 ;
internal const int EnumSharedMemoryServerStatus_CMD_SDF_LOADING_COMPLETED = 4 ;
internal const int EnumSharedMemoryServerStatus_CMD_SDF_LOADING_FAILED = 5 ;
internal const int EnumSharedMemoryServerStatus_CMD_URDF_LOADING_COMPLETED = 6 ;
internal const int EnumSharedMemoryServerStatus_CMD_URDF_LOADING_FAILED = 7 ;
internal const int EnumSharedMemoryServerStatus_CMD_BULLET_LOADING_COMPLETED = 8 ;
internal const int EnumSharedMemoryServerStatus_CMD_BULLET_LOADING_FAILED = 9 ;
internal const int EnumSharedMemoryServerStatus_CMD_BULLET_SAVING_COMPLETED = 10 ;
internal const int EnumSharedMemoryServerStatus_CMD_BULLET_SAVING_FAILED = 11 ;
internal const int EnumSharedMemoryServerStatus_CMD_MJCF_LOADING_COMPLETED = 12 ;
internal const int EnumSharedMemoryServerStatus_CMD_MJCF_LOADING_FAILED = 13 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_INTERNAL_DATA_COMPLETED = 14 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_INTERNAL_DATA_FAILED = 15 ;
internal const int EnumSharedMemoryServerStatus_CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED = 16 ;
internal const int EnumSharedMemoryServerStatus_CMD_BULLET_DATA_STREAM_RECEIVED_FAILED = 17 ;
internal const int EnumSharedMemoryServerStatus_CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED = 18 ;
internal const int EnumSharedMemoryServerStatus_CMD_RIGID_BODY_CREATION_COMPLETED = 19 ;
internal const int EnumSharedMemoryServerStatus_CMD_SET_JOINT_FEEDBACK_COMPLETED = 20 ;
internal const int EnumSharedMemoryServerStatus_CMD_ACTUAL_STATE_UPDATE_COMPLETED = 21 ;
internal const int EnumSharedMemoryServerStatus_CMD_ACTUAL_STATE_UPDATE_FAILED = 22 ;
internal const int EnumSharedMemoryServerStatus_CMD_DEBUG_LINES_COMPLETED = 23 ;
internal const int EnumSharedMemoryServerStatus_CMD_DEBUG_LINES_OVERFLOW_FAILED = 24 ;
internal const int EnumSharedMemoryServerStatus_CMD_DESIRED_STATE_RECEIVED_COMPLETED = 25 ;
internal const int EnumSharedMemoryServerStatus_CMD_STEP_FORWARD_SIMULATION_COMPLETED = 26 ;
internal const int EnumSharedMemoryServerStatus_CMD_RESET_SIMULATION_COMPLETED = 27 ;
internal const int EnumSharedMemoryServerStatus_CMD_CAMERA_IMAGE_COMPLETED = 28 ;
internal const int EnumSharedMemoryServerStatus_CMD_CAMERA_IMAGE_FAILED = 29 ;
internal const int EnumSharedMemoryServerStatus_CMD_BODY_INFO_COMPLETED = 30 ;
internal const int EnumSharedMemoryServerStatus_CMD_BODY_INFO_FAILED = 31 ;
internal const int EnumSharedMemoryServerStatus_CMD_INVALID_STATUS = 32 ;
internal const int EnumSharedMemoryServerStatus_CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED = 33 ;
internal const int EnumSharedMemoryServerStatus_CMD_CALCULATED_INVERSE_DYNAMICS_FAILED = 34 ;
internal const int EnumSharedMemoryServerStatus_CMD_CALCULATED_JACOBIAN_COMPLETED = 35 ;
internal const int EnumSharedMemoryServerStatus_CMD_CALCULATED_JACOBIAN_FAILED = 36 ;
internal const int EnumSharedMemoryServerStatus_CMD_CALCULATED_MASS_MATRIX_COMPLETED = 37 ;
internal const int EnumSharedMemoryServerStatus_CMD_CALCULATED_MASS_MATRIX_FAILED = 38 ;
internal const int EnumSharedMemoryServerStatus_CMD_CONTACT_POINT_INFORMATION_COMPLETED = 39 ;
internal const int EnumSharedMemoryServerStatus_CMD_CONTACT_POINT_INFORMATION_FAILED = 40 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_AABB_OVERLAP_COMPLETED = 41 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_AABB_OVERLAP_FAILED = 42 ;
internal const int EnumSharedMemoryServerStatus_CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED = 43 ;
internal const int EnumSharedMemoryServerStatus_CMD_CALCULATE_INVERSE_KINEMATICS_FAILED = 44 ;
internal const int EnumSharedMemoryServerStatus_CMD_SAVE_WORLD_COMPLETED = 45 ;
internal const int EnumSharedMemoryServerStatus_CMD_SAVE_WORLD_FAILED = 46 ;
internal const int EnumSharedMemoryServerStatus_CMD_VISUAL_SHAPE_INFO_COMPLETED = 47 ;
internal const int EnumSharedMemoryServerStatus_CMD_VISUAL_SHAPE_INFO_FAILED = 48 ;
internal const int EnumSharedMemoryServerStatus_CMD_VISUAL_SHAPE_UPDATE_COMPLETED = 49 ;
internal const int EnumSharedMemoryServerStatus_CMD_VISUAL_SHAPE_UPDATE_FAILED = 50 ;
internal const int EnumSharedMemoryServerStatus_CMD_LOAD_TEXTURE_COMPLETED = 51 ;
internal const int EnumSharedMemoryServerStatus_CMD_LOAD_TEXTURE_FAILED = 52 ;
internal const int EnumSharedMemoryServerStatus_CMD_USER_DEBUG_DRAW_COMPLETED = 53 ;
internal const int EnumSharedMemoryServerStatus_CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED = 54 ;
internal const int EnumSharedMemoryServerStatus_CMD_USER_DEBUG_DRAW_FAILED = 55 ;
internal const int EnumSharedMemoryServerStatus_CMD_USER_CONSTRAINT_COMPLETED = 56 ;
internal const int EnumSharedMemoryServerStatus_CMD_USER_CONSTRAINT_INFO_COMPLETED = 57 ;
internal const int EnumSharedMemoryServerStatus_CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED = 58 ;
internal const int EnumSharedMemoryServerStatus_CMD_REMOVE_USER_CONSTRAINT_COMPLETED = 59 ;
internal const int EnumSharedMemoryServerStatus_CMD_CHANGE_USER_CONSTRAINT_COMPLETED = 60 ;
internal const int EnumSharedMemoryServerStatus_CMD_REMOVE_USER_CONSTRAINT_FAILED = 61 ;
internal const int EnumSharedMemoryServerStatus_CMD_CHANGE_USER_CONSTRAINT_FAILED = 62 ;
internal const int EnumSharedMemoryServerStatus_CMD_USER_CONSTRAINT_FAILED = 63 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_VR_EVENTS_DATA_COMPLETED = 64 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED = 65 ;
internal const int EnumSharedMemoryServerStatus_CMD_SYNC_BODY_INFO_COMPLETED = 66 ;
internal const int EnumSharedMemoryServerStatus_CMD_SYNC_BODY_INFO_FAILED = 67 ;
internal const int EnumSharedMemoryServerStatus_CMD_STATE_LOGGING_COMPLETED = 68 ;
internal const int EnumSharedMemoryServerStatus_CMD_STATE_LOGGING_START_COMPLETED = 69 ;
internal const int EnumSharedMemoryServerStatus_CMD_STATE_LOGGING_FAILED = 70 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED = 71 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED = 72 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED = 73 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED = 74 ;
internal const int EnumSharedMemoryServerStatus_CMD_REMOVE_BODY_COMPLETED = 75 ;
internal const int EnumSharedMemoryServerStatus_CMD_REMOVE_BODY_FAILED = 76 ;
internal const int EnumSharedMemoryServerStatus_CMD_GET_DYNAMICS_INFO_COMPLETED = 77 ;
internal const int EnumSharedMemoryServerStatus_CMD_GET_DYNAMICS_INFO_FAILED = 78 ;
internal const int EnumSharedMemoryServerStatus_CMD_CREATE_COLLISION_SHAPE_FAILED = 79 ;
internal const int EnumSharedMemoryServerStatus_CMD_CREATE_COLLISION_SHAPE_COMPLETED = 80 ;
internal const int EnumSharedMemoryServerStatus_CMD_CREATE_VISUAL_SHAPE_FAILED = 81 ;
internal const int EnumSharedMemoryServerStatus_CMD_CREATE_VISUAL_SHAPE_COMPLETED = 82 ;
internal const int EnumSharedMemoryServerStatus_CMD_CREATE_MULTI_BODY_FAILED = 83 ;
internal const int EnumSharedMemoryServerStatus_CMD_CREATE_MULTI_BODY_COMPLETED = 84 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_COLLISION_INFO_COMPLETED = 85 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_COLLISION_INFO_FAILED = 86 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED = 87 ;
internal const int EnumSharedMemoryServerStatus_CMD_CHANGE_TEXTURE_COMMAND_FAILED = 88 ;
internal const int EnumSharedMemoryServerStatus_CMD_CUSTOM_COMMAND_COMPLETED = 89 ;
internal const int EnumSharedMemoryServerStatus_CMD_CUSTOM_COMMAND_FAILED = 90 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED = 91 ;
internal const int EnumSharedMemoryServerStatus_CMD_SAVE_STATE_FAILED = 92 ;
internal const int EnumSharedMemoryServerStatus_CMD_SAVE_STATE_COMPLETED = 93 ;
internal const int EnumSharedMemoryServerStatus_CMD_RESTORE_STATE_FAILED = 94 ;
internal const int EnumSharedMemoryServerStatus_CMD_RESTORE_STATE_COMPLETED = 95 ;
internal const int EnumSharedMemoryServerStatus_CMD_COLLISION_SHAPE_INFO_COMPLETED = 96 ;
internal const int EnumSharedMemoryServerStatus_CMD_COLLISION_SHAPE_INFO_FAILED = 97 ;
internal const int EnumSharedMemoryServerStatus_CMD_LOAD_SOFT_BODY_FAILED = 98 ;
internal const int EnumSharedMemoryServerStatus_CMD_LOAD_SOFT_BODY_COMPLETED = 99 ;
internal const int EnumSharedMemoryServerStatus_CMD_SYNC_USER_DATA_COMPLETED = 100 ;
internal const int EnumSharedMemoryServerStatus_CMD_SYNC_USER_DATA_FAILED = 101 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_USER_DATA_COMPLETED = 102 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_USER_DATA_FAILED = 103 ;
internal const int EnumSharedMemoryServerStatus_CMD_ADD_USER_DATA_COMPLETED = 104 ;
internal const int EnumSharedMemoryServerStatus_CMD_ADD_USER_DATA_FAILED = 105 ;
internal const int EnumSharedMemoryServerStatus_CMD_REMOVE_USER_DATA_COMPLETED = 106 ;
internal const int EnumSharedMemoryServerStatus_CMD_REMOVE_USER_DATA_FAILED = 107 ;
internal const int EnumSharedMemoryServerStatus_CMD_REMOVE_STATE_COMPLETED = 108 ;
internal const int EnumSharedMemoryServerStatus_CMD_REMOVE_STATE_FAILED = 109 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_MESH_DATA_COMPLETED = 110 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_MESH_DATA_FAILED = 111 ;
internal const int EnumSharedMemoryServerStatus_CMD_PERFORM_COLLISION_DETECTION_COMPLETED = 112 ;
internal const int EnumSharedMemoryServerStatus_CMD_RESET_MESH_DATA_COMPLETED = 113 ;
internal const int EnumSharedMemoryServerStatus_CMD_RESET_MESH_DATA_FAILED = 114 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_TETRA_MESH_DATA_COMPLETED = 115 ;
internal const int EnumSharedMemoryServerStatus_CMD_REQUEST_TETRA_MESH_DATA_FAILED = 116 ;
internal const int EnumSharedMemoryServerStatus_CMD_MAX_SERVER_COMMANDS = 117 ;
internal const int JointInfoFlags_JOINT_HAS_MOTORIZED_POWER = 1 ;
internal const int COLLISION_SHAPE_TYPE_BOX = 1 ;
internal const int COLLISION_SHAPE_TYPE_CYLINDER_X = 2 ;
internal const int COLLISION_SHAPE_TYPE_CYLINDER_Y = 3 ;
internal const int COLLISION_SHAPE_TYPE_CYLINDER_Z = 4 ;
internal const int COLLISION_SHAPE_TYPE_CAPSULE_X = 5 ;
internal const int COLLISION_SHAPE_TYPE_CAPSULE_Y = 6 ;
internal const int COLLISION_SHAPE_TYPE_CAPSULE_Z = 7 ;
internal const int COLLISION_SHAPE_TYPE_SPHERE = 8 ;
internal const int JointType_eRevoluteType = 0 ;
internal const int JointType_ePrismaticType = 1 ;
internal const int JointType_eSphericalType = 2 ;
internal const int JointType_ePlanarType = 3 ;
internal const int JointType_eFixedType = 4 ;
internal const int JointType_ePoint2PointType = 5 ;
internal const int JointType_eGearType = 6 ;
internal const int b3JointInfoFlags_eJointChangeMaxForce = 1 ;
internal const int b3JointInfoFlags_eJointChangeChildFramePosition = 2 ;
internal const int b3JointInfoFlags_eJointChangeChildFrameOrientation = 4 ;
internal const int UserDataValueType_USER_DATA_VALUE_TYPE_BYTES = 0 ;
internal const int UserDataValueType_USER_DATA_VALUE_TYPE_STRING = 1 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_ADD_CONSTRAINT = 1 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_REMOVE_CONSTRAINT = 2 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_CHANGE_CONSTRAINT = 4 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_CHANGE_PIVOT_IN_B = 8 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B = 16 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_CHANGE_MAX_FORCE = 32 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_REQUEST_INFO = 64 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_CHANGE_GEAR_RATIO = 128 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK = 256 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_CHANGE_ERP = 1024 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_REQUEST_STATE = 2048 ;
internal const int EnumUserConstraintFlags_USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096 ;
internal const int DynamicsActivationState_eActivationStateEnableSleeping = 1 ;
internal const int DynamicsActivationState_eActivationStateDisableSleeping = 2 ;
internal const int DynamicsActivationState_eActivationStateWakeUp = 4 ;
internal const int DynamicsActivationState_eActivationStateSleep = 8 ;
internal const int DynamicsActivationState_eActivationStateEnableWakeup = 16 ;
internal const int DynamicsActivationState_eActivationStateDisableWakeup = 32 ;
internal const int b3BodyType_BT_RIGID_BODY = 1 ;
internal const int b3BodyType_BT_MULTI_BODY = 2 ;
internal const int b3BodyType_BT_SOFT_BODY = 3 ;
internal const int SensorType_eSensorForceTorqueType = 1 ;
internal const int eMeshDataFlags_B3_MESH_DATA_SIMULATION_MESH = 1 ;
internal const int eMeshDataFlags_B3_MESH_DATA_SIMULATION_INDICES = 2 ;
internal const int eMeshDataFlags_B3_MESH_DATA_GRAPHICS_INDICES = 4 ;
internal const int eMeshDataFlags_B3_MESH_DATA_SIMULATION_MESH_VELOCITY = 8 ;
internal const int eMeshDataEnum_B3_MESH_DATA_COLLISIONSHAPEINDEX = 1 ;
internal const int eMeshDataEnum_B3_MESH_DATA_FLAGS = 2 ;
internal const int eTetraMeshDataEnum_B3_TETRA_MESH_DATA_FLAGS = 2 ;
internal const int b3VREventType_VR_CONTROLLER_MOVE_EVENT = 1 ;
internal const int b3VREventType_VR_CONTROLLER_BUTTON_EVENT = 2 ;
internal const int b3VREventType_VR_HMD_MOVE_EVENT = 4 ;
internal const int b3VREventType_VR_GENERIC_TRACKER_MOVE_EVENT = 8 ;
internal const int b3VRButtonInfo_eButtonIsDown = 1 ;
internal const int b3VRButtonInfo_eButtonTriggered = 2 ;
internal const int b3VRButtonInfo_eButtonReleased = 4 ;
internal const int eVRDeviceTypeEnums_VR_DEVICE_CONTROLLER = 1 ;
internal const int eVRDeviceTypeEnums_VR_DEVICE_HMD = 2 ;
internal const int eVRDeviceTypeEnums_VR_DEVICE_GENERIC_TRACKER = 4 ;
internal const int EVRCameraFlags_VR_CAMERA_TRACK_OBJECT_ORIENTATION = 1 ;
internal const int eMouseEventTypeEnums_MOUSE_MOVE_EVENT = 1 ;
internal const int eMouseEventTypeEnums_MOUSE_BUTTON_EVENT = 2 ;
internal const int b3NotificationType_SIMULATION_RESET = 0 ;
internal const int b3NotificationType_BODY_ADDED = 1 ;
internal const int b3NotificationType_BODY_REMOVED = 2 ;
internal const int b3NotificationType_USER_DATA_ADDED = 3 ;
internal const int b3NotificationType_USER_DATA_REMOVED = 4 ;
internal const int b3NotificationType_LINK_DYNAMICS_CHANGED = 5 ;
internal const int b3NotificationType_VISUAL_SHAPE_CHANGED = 6 ;
internal const int b3NotificationType_TRANSFORM_CHANGED = 7 ;
internal const int b3NotificationType_SIMULATION_STEPPED = 8 ;
internal const int b3NotificationType_SOFTBODY_CHANGED = 9 ;
internal const int b3ResetSimulationFlags_RESET_USE_DEFORMABLE_WORLD = 1 ;
internal const int b3ResetSimulationFlags_RESET_USE_DISCRETE_DYNAMICS_WORLD = 2 ;
internal const int b3ResetSimulationFlags_RESET_USE_SIMPLE_BROADPHASE = 4 ;
internal const int b3ResetSimulationFlags_RESET_USE_REDUCED_DEFORMABLE_WORLD = 8 ;
internal const int CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0 ;
internal const int CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1 ;
internal const int b3StateLoggingType_STATE_LOGGING_MINITAUR = 0 ;
internal const int b3StateLoggingType_STATE_LOGGING_GENERIC_ROBOT = 1 ;
internal const int b3StateLoggingType_STATE_LOGGING_VR_CONTROLLERS = 2 ;
internal const int b3StateLoggingType_STATE_LOGGING_VIDEO_MP4 = 3 ;
internal const int b3StateLoggingType_STATE_LOGGING_COMMANDS = 4 ;
internal const int b3StateLoggingType_STATE_LOGGING_CONTACT_POINTS = 5 ;
internal const int b3StateLoggingType_STATE_LOGGING_PROFILE_TIMINGS = 6 ;
internal const int b3StateLoggingType_STATE_LOGGING_ALL_COMMANDS = 7 ;
internal const int b3StateLoggingType_STATE_REPLAY_ALL_COMMANDS = 8 ;
internal const int b3StateLoggingType_STATE_LOGGING_CUSTOM_TIMER = 9 ;
internal const int b3VisualShapeDataFlags_eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS = 1 ;
internal const int eLinkStateFlags_ACTUAL_STATE_COMPUTE_LINKVELOCITY = 1 ;
internal const int eLinkStateFlags_ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS = 2 ;
internal const int CONTROL_MODE_VELOCITY = 0 ;
internal const int CONTROL_MODE_TORQUE = 1 ;
internal const int CONTROL_MODE_POSITION_VELOCITY_PD = 2 ;
internal const int CONTROL_MODE_PD = 3 ;
internal const int CONTROL_MODE_STABLE_PD = 4 ;
internal const int EnumExternalForceFlags_EF_LINK_FRAME = 1 ;
internal const int EnumExternalForceFlags_EF_WORLD_FRAME = 2 ;
internal const int EnumRenderer_ER_TINY_RENDERER = 65536 ;
internal const int EnumRenderer_ER_BULLET_HARDWARE_OPENGL = 131072 ;
internal const int EnumRendererAuxFlags_ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX = 1 ;
internal const int EnumRendererAuxFlags_ER_USE_PROJECTIVE_TEXTURE = 2 ;
internal const int EnumRendererAuxFlags_ER_NO_SEGMENTATION_MASK = 4 ;
internal const int EnumCalculateInverseKinematicsFlags_IK_DLS = 0 ;
internal const int EnumCalculateInverseKinematicsFlags_IK_SDLS = 1 ;
internal const int EnumCalculateInverseKinematicsFlags_IK_HAS_TARGET_POSITION = 16 ;
internal const int EnumCalculateInverseKinematicsFlags_IK_HAS_TARGET_ORIENTATION = 32 ;
internal const int EnumCalculateInverseKinematicsFlags_IK_HAS_NULL_SPACE_VELOCITY = 64 ;
internal const int EnumCalculateInverseKinematicsFlags_IK_HAS_JOINT_DAMPING = 128 ;
internal const int EnumCalculateInverseKinematicsFlags_IK_HAS_CURRENT_JOINT_POSITIONS = 256 ;
internal const int EnumCalculateInverseKinematicsFlags_IK_HAS_MAX_ITERATIONS = 512 ;
internal const int EnumCalculateInverseKinematicsFlags_IK_HAS_RESIDUAL_THRESHOLD = 1024 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_GUI = 1 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_SHADOWS = 2 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_WIREFRAME = 3 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_VR_TELEPORTING = 4 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_VR_PICKING = 5 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_VR_RENDER_CONTROLLERS = 6 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_RENDERING = 7 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_SYNC_RENDERING_INTERNAL = 8 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_KEYBOARD_SHORTCUTS = 9 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_MOUSE_PICKING = 10 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_Y_AXIS_UP = 11 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_TINY_RENDERER = 12 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_RGB_BUFFER_PREVIEW = 13 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_DEPTH_BUFFER_PREVIEW = 14 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_SEGMENTATION_MARK_PREVIEW = 15 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_PLANAR_REFLECTION = 16 ;
internal const int b3ConfigureDebugVisualizerEnum_COV_ENABLE_SINGLE_STEP_RENDERING = 17 ;
internal const int b3AddUserDebugItemEnum_DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA = 1 ;
internal const int b3AddUserDebugItemEnum_DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS = 2 ;
internal const int b3AddUserDebugItemEnum_DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT = 4 ;
internal const int eCONNECT_METHOD_eCONNECT_GUI = 1 ;
internal const int eCONNECT_METHOD_eCONNECT_DIRECT = 2 ;
internal const int eCONNECT_METHOD_eCONNECT_SHARED_MEMORY = 3 ;
internal const int eCONNECT_METHOD_eCONNECT_UDP = 4 ;
internal const int eCONNECT_METHOD_eCONNECT_TCP = 5 ;
internal const int eCONNECT_METHOD_eCONNECT_EXISTING_EXAMPLE_BROWSER = 6 ;
internal const int eCONNECT_METHOD_eCONNECT_GUI_SERVER = 7 ;
internal const int eCONNECT_METHOD_eCONNECT_GUI_MAIN_THREAD = 8 ;
internal const int eCONNECT_METHOD_eCONNECT_SHARED_MEMORY_SERVER = 9 ;
internal const int eCONNECT_METHOD_eCONNECT_DART = 10 ;
internal const int eCONNECT_METHOD_eCONNECT_MUJOCO = 11 ;
internal const int eCONNECT_METHOD_eCONNECT_GRPC = 12 ;
internal const int eCONNECT_METHOD_eCONNECT_PHYSX = 13 ;
internal const int eCONNECT_METHOD_eCONNECT_SHARED_MEMORY_GUI = 14 ;
internal const int eCONNECT_METHOD_eCONNECT_GRAPHICS_SERVER = 15 ;
internal const int eCONNECT_METHOD_eCONNECT_GRAPHICS_SERVER_TCP = 16 ;
internal const int eCONNECT_METHOD_eCONNECT_GRAPHICS_SERVER_MAIN_THREAD = 17 ;
internal const int eURDF_Flags_URDF_USE_INERTIA_FROM_FILE = 2 ;
internal const int eURDF_Flags_URDF_USE_SELF_COLLISION = 8 ;
internal const int eURDF_Flags_URDF_USE_SELF_COLLISION_EXCLUDE_PARENT = 16 ;
internal const int eURDF_Flags_URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS = 32 ;
internal const int eURDF_Flags_URDF_RESERVED = 64 ;
internal const int eURDF_Flags_URDF_USE_IMPLICIT_CYLINDER = 128 ;
internal const int eURDF_Flags_URDF_GLOBAL_VELOCITIES_MB = 256 ;
internal const int eURDF_Flags_MJCF_COLORS_FROM_FILE = 512 ;
internal const int eURDF_Flags_URDF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024 ;
internal const int eURDF_Flags_URDF_ENABLE_SLEEPING = 2048 ;
internal const int eURDF_Flags_URDF_INITIALIZE_SAT_FEATURES = 4096 ;
internal const int eURDF_Flags_URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192 ;
internal const int eURDF_Flags_URDF_PARSE_SENSORS = 16384 ;
internal const int eURDF_Flags_URDF_USE_MATERIAL_COLORS_FROM_MTL = 32768 ;
internal const int eURDF_Flags_URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL = 65536 ;
internal const int eURDF_Flags_URDF_MAINTAIN_LINK_ORDER = 131072 ;
internal const int eURDF_Flags_URDF_ENABLE_WAKEUP = 262144 ;
internal const int eURDF_Flags_URDF_MERGE_FIXED_LINKS = 524288 ;
internal const int eURDF_Flags_URDF_IGNORE_VISUAL_SHAPES = 1048576 ;
internal const int eURDF_Flags_URDF_IGNORE_COLLISION_SHAPES = 2097152 ;
internal const int eURDF_Flags_URDF_PRINT_URDF_INFO = 4194304 ;
internal const int eURDF_Flags_URDF_GOOGLEY_UNDEFINED_COLORS = 8388608 ;
internal const int eUrdfGeomTypes_GEOM_SPHERE = 2 ;
internal const int eUrdfGeomTypes_GEOM_BOX = 3 ;
internal const int eUrdfGeomTypes_GEOM_CYLINDER = 4 ;
internal const int eUrdfGeomTypes_GEOM_MESH = 5 ;
internal const int eUrdfGeomTypes_GEOM_PLANE = 6 ;
internal const int eUrdfGeomTypes_GEOM_CAPSULE = 7 ;
internal const int eUrdfGeomTypes_GEOM_SDF = 8 ;
internal const int eUrdfGeomTypes_GEOM_HEIGHTFIELD = 9 ;
internal const int eUrdfGeomTypes_GEOM_UNKNOWN = 10 ;
internal const int eUrdfCollisionFlags_GEOM_FORCE_CONCAVE_TRIMESH = 1 ;
internal const int eUrdfCollisionFlags_GEOM_CONCAVE_INTERNAL_EDGE = 2 ;
internal const int eUrdfCollisionFlags_GEOM_INITIALIZE_SAT_FEATURES = 4096 ;
internal const int eUrdfVisualFlags_GEOM_VISUAL_HAS_RGBA_COLOR = 1 ;
internal const int eUrdfVisualFlags_GEOM_VISUAL_HAS_SPECULAR_COLOR = 2 ;
internal const int eStateLoggingFlags_STATE_LOG_JOINT_MOTOR_TORQUES = 1 ;
internal const int eStateLoggingFlags_STATE_LOG_JOINT_USER_TORQUES = 2 ;
internal const int eStateLoggingFlags_STATE_LOG_JOINT_TORQUES = 3 ;
internal const int eJointFeedbackModes_JOINT_FEEDBACK_IN_WORLD_SPACE = 1 ;
internal const int eJointFeedbackModes_JOINT_FEEDBACK_IN_JOINT_FRAME = 2 ;
internal const int eInternalSimFlags_eVRTinyGUI = 2 ;
internal const int eInternalSimFlags_eDeformableAlternativeIndexing = 4 ;
internal const int eConstraintSolverTypes_eConstraintSolverLCP_SI = 1 ;
internal const int eConstraintSolverTypes_eConstraintSolverLCP_PGS = 2 ;
internal const int eConstraintSolverTypes_eConstraintSolverLCP_DANTZIG = 3 ;
internal const int eConstraintSolverTypes_eConstraintSolverLCP_LEMKE = 4 ;
internal const int eConstraintSolverTypes_eConstraintSolverLCP_NNCG = 5 ;
internal const int eConstraintSolverTypes_eConstraintSolverLCP_BLOCK_PGS = 6 ;
internal const int eDynamicTypes_eDynamic = 0 ;
internal const int eDynamicTypes_eStatic = 1 ;
internal const int eDynamicTypes_eKinematic = 2 ;
internal const int eFileIOActions_eAddFileIOAction = 1024 ;
internal const int eFileIOActions_eRemoveFileIOAction = 1025 ;
internal const int eFileIOTypes_ePosixFileIO = 1 ;
internal const int eFileIOTypes_eZipFileIO = 2 ;
internal const int eFileIOTypes_eCNSFileIO = 3 ;
internal const int eFileIOTypes_eInMemoryFileIO = 4 ;
internal const int eEnumUpdateVisualShapeFlags_eVISUAL_SHAPE_DOUBLE_SIDED = 4 ;
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[DllImport(__DllName, EntryPoint = "b3ConnectSharedMemory", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3PhysicsClientHandle__ * b3ConnectSharedMemory ( int key ) ;
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[DllImport(__DllName, EntryPoint = "b3ConnectSharedMemory2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3PhysicsClientHandle__ * b3ConnectSharedMemory2 ( int key ) ;
/// <summary>think more about naming. Directly execute commands without transport (no shared memory, UDP, socket, grpc etc)</summary>
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[DllImport(__DllName, EntryPoint = "b3ConnectPhysicsDirect", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3PhysicsClientHandle__ * b3ConnectPhysicsDirect ( ) ;
/// <summary>b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory.</summary>
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[DllImport(__DllName, EntryPoint = "b3DisconnectSharedMemory", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3DisconnectSharedMemory ( b3PhysicsClientHandle__ * physClient ) ;
/// <summary>There can only be 1 outstanding command. Check if a command can be send.</summary>
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[DllImport(__DllName, EntryPoint = "b3CanSubmitCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CanSubmitCommand ( b3PhysicsClientHandle__ * physClient ) ;
/// <summary>blocking submit command and wait for status</summary>
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[DllImport(__DllName, EntryPoint = "b3SubmitClientCommandAndWaitStatus", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryStatusHandle__ * b3SubmitClientCommandAndWaitStatus ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle ) ;
/// <summary>In general it is better to use b3SubmitClientCommandAndWaitStatus. b3SubmitClientCommand is a non-blocking submitcommand, which requires checking for the status manually, using b3ProcessServerStatus. Also, before sending thenext command, make sure to check if you can send a command using 'b3CanSubmitCommand'.</summary>
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[DllImport(__DllName, EntryPoint = "b3SubmitClientCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3SubmitClientCommand ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle ) ;
/// <summary>non-blocking check status</summary>
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[DllImport(__DllName, EntryPoint = "b3ProcessServerStatus", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryStatusHandle__ * b3ProcessServerStatus ( b3PhysicsClientHandle__ * physClient ) ;
/// <summary>Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes.</summary>
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[DllImport(__DllName, EntryPoint = "b3GetStatusType", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusType ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
/// <summary>Plugin system, load and unload a plugin, execute a command</summary>
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[DllImport(__DllName, EntryPoint = "b3CreateCustomCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreateCustomCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3CustomCommandLoadPlugin", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CustomCommandLoadPlugin ( b3SharedMemoryCommandHandle__ * commandHandle , byte * pluginPath ) ;
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[DllImport(__DllName, EntryPoint = "b3CustomCommandLoadPluginSetPostFix", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CustomCommandLoadPluginSetPostFix ( b3SharedMemoryCommandHandle__ * commandHandle , byte * postFix ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusPluginUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusPluginUniqueId ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusPluginCommandResult", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusPluginCommandResult ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusPluginCommandReturnData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusPluginCommandReturnData ( b3PhysicsClientHandle__ * physClient , b3UserDataValue * valueOut ) ;
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[DllImport(__DllName, EntryPoint = "b3CustomCommandUnloadPlugin", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CustomCommandUnloadPlugin ( b3SharedMemoryCommandHandle__ * commandHandle , int pluginUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3CustomCommandExecutePluginCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CustomCommandExecutePluginCommand ( b3SharedMemoryCommandHandle__ * commandHandle , int pluginUniqueId , byte * textArguments ) ;
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[DllImport(__DllName, EntryPoint = "b3CustomCommandExecuteAddIntArgument", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CustomCommandExecuteAddIntArgument ( b3SharedMemoryCommandHandle__ * commandHandle , int intVal ) ;
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[DllImport(__DllName, EntryPoint = "b3CustomCommandExecuteAddFloatArgument", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CustomCommandExecuteAddFloatArgument ( b3SharedMemoryCommandHandle__ * commandHandle , float floatVal ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusBodyIndices", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusBodyIndices ( b3SharedMemoryStatusHandle__ * statusHandle , int * bodyIndicesOut , int bodyIndicesCapacity ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusBodyIndex", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusBodyIndex ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusActualState", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusActualState ( b3SharedMemoryStatusHandle__ * statusHandle , int * bodyUniqueId , int * numDegreeOfFreedomQ , int * numDegreeOfFreedomU , double * * rootLocalInertialFrame , double * * actualStateQ , double * * actualStateQdot , double * * jointReactionForces ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusActualState2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusActualState2 ( b3SharedMemoryStatusHandle__ * statusHandle , int * bodyUniqueId , int * numLinks , int * numDegreeOfFreedomQ , int * numDegreeOfFreedomU , double * * rootLocalInertialFrame , double * * actualStateQ , double * * actualStateQdot , double * * jointReactionForces , double * * linkLocalInertialFrames , double * * jointMotorForces , double * * linkStates , double * * linkWorldVelocities ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCollisionInfoCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3RequestCollisionInfoCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusAABB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusAABB ( b3SharedMemoryStatusHandle__ * statusHandle , int linkIndex , double * aabbMin , double * aabbMax ) ;
/// <summary>If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.</summary>
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[DllImport(__DllName, EntryPoint = "b3InitSyncBodyInfoCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitSyncBodyInfoCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRequestBodyInfoCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRequestBodyInfoCommand ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRemoveBodyCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRemoveBodyCommand ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
/// <summary>return the total number of bodies in the simulation</summary>
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[DllImport(__DllName, EntryPoint = "b3GetNumBodies", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetNumBodies ( b3PhysicsClientHandle__ * physClient ) ;
/// <summary>return the body unique id, given the index in range [0 , b3GetNumBodies() )</summary>
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[DllImport(__DllName, EntryPoint = "b3GetBodyUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetBodyUniqueId ( b3PhysicsClientHandle__ * physClient , int serialIndex ) ;
/// <summary>given a body unique id, return the body information. See b3BodyInfo in SharedMemoryPublic.h</summary>
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[DllImport(__DllName, EntryPoint = "b3GetBodyInfo", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetBodyInfo ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , b3BodyInfo * info ) ;
/// <summary>give a unique body index (after loading the body) return the number of joints.</summary>
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[DllImport(__DllName, EntryPoint = "b3GetNumJoints", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetNumJoints ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
/// <summary>give a unique body index (after loading the body) return the number of degrees of freedom (DoF).</summary>
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[DllImport(__DllName, EntryPoint = "b3GetNumDofs", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetNumDofs ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
/// <summary>compute the number of degrees of freedom for this body.Return -1 for unsupported spherical joint, -2 for unsupported planar joint.</summary>
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[DllImport(__DllName, EntryPoint = "b3ComputeDofCount", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ComputeDofCount ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
/// <summary>given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h</summary>
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[DllImport(__DllName, EntryPoint = "b3GetJointInfo", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetJointInfo ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int jointIndex , b3JointInfo * info ) ;
/// <summary>user data handling</summary>
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[DllImport(__DllName, EntryPoint = "b3InitSyncUserDataCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitSyncUserDataCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3AddBodyToSyncUserDataRequest", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3AddBodyToSyncUserDataRequest ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3InitAddUserDataCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitAddUserDataCommand ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int linkIndex , int visualShapeIndex , byte * key , int valueType , int valueLength , void * valueData ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRemoveUserDataCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRemoveUserDataCommand ( b3PhysicsClientHandle__ * physClient , int userDataId ) ;
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[DllImport(__DllName, EntryPoint = "b3GetUserData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetUserData ( b3PhysicsClientHandle__ * physClient , int userDataId , b3UserDataValue * valueOut ) ;
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[DllImport(__DllName, EntryPoint = "b3GetUserDataId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetUserDataId ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int linkIndex , int visualShapeIndex , byte * key ) ;
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[DllImport(__DllName, EntryPoint = "b3GetUserDataIdFromStatus", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetUserDataIdFromStatus ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3GetNumUserData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetNumUserData ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3GetUserDataInfo", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetUserDataInfo ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int userDataIndex , byte * * keyOut , int * userDataIdOut , int * linkIndexOut , int * visualShapeIndexOut ) ;
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[DllImport(__DllName, EntryPoint = "b3GetDynamicsInfoCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3GetDynamicsInfoCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int linkIndex ) ;
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[DllImport(__DllName, EntryPoint = "b3GetDynamicsInfoCommandInit2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3GetDynamicsInfoCommandInit2 ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex ) ;
/// <summary>given a body unique id and link index, return the dynamics information. See b3DynamicsInfo in SharedMemoryPublic.h</summary>
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[DllImport(__DllName, EntryPoint = "b3GetDynamicsInfo", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetDynamicsInfo ( b3SharedMemoryStatusHandle__ * statusHandle , b3DynamicsInfo * info ) ;
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[DllImport(__DllName, EntryPoint = "b3InitChangeDynamicsInfo", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitChangeDynamicsInfo ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitChangeDynamicsInfo2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitChangeDynamicsInfo2 ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetMass", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetMass ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double mass ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetLocalInertiaDiagonal", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetLocalInertiaDiagonal ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double * localInertiaDiagonal ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetAnisotropicFriction", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetAnisotropicFriction ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double * anisotropicFriction ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetJointLimit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetJointLimit ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double jointLowerLimit , double jointUpperLimit ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetJointLimitForce", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetJointLimitForce ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double jointLimitForce ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetDynamicType", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetDynamicType ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , int dynamicType ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetSleepThreshold", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetSleepThreshold ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , double sleepThreshold ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetLateralFriction", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetLateralFriction ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double lateralFriction ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetSpinningFriction", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetSpinningFriction ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double friction ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetRollingFriction", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetRollingFriction ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double friction ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetRestitution", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetRestitution ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double restitution ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetLinearDamping", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetLinearDamping ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , double linearDamping ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetAngularDamping", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetAngularDamping ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , double angularDamping ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetJointDamping", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetJointDamping ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double jointDamping ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetContactStiffnessAndDamping", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetContactStiffnessAndDamping ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double contactStiffness , double contactDamping ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetFrictionAnchor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetFrictionAnchor ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , int frictionAnchor ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetCcdSweptSphereRadius", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetCcdSweptSphereRadius ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double ccdSweptSphereRadius ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetContactProcessingThreshold", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetContactProcessingThreshold ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkIndex , double contactProcessingThreshold ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetActivationState", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetActivationState ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int activationState ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetMaxJointVelocity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetMaxJointVelocity ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , double maxJointVelocity ) ;
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[DllImport(__DllName, EntryPoint = "b3ChangeDynamicsInfoSetCollisionMargin", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3ChangeDynamicsInfoSetCollisionMargin ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , double collisionMargin ) ;
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[DllImport(__DllName, EntryPoint = "b3InitCreateUserConstraintCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitCreateUserConstraintCommand ( b3PhysicsClientHandle__ * physClient , int parentBodyUniqueId , int parentJointIndex , int childBodyUniqueId , int childJointIndex , b3JointInfo * info ) ;
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[DllImport(__DllName, EntryPoint = "b3InitCreateUserConstraintCommand2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitCreateUserConstraintCommand2 ( b3SharedMemoryCommandHandle__ * commandHandle , int parentBodyUniqueId , int parentJointIndex , int childBodyUniqueId , int childJointIndex , b3JointInfo * info ) ;
/// <summary>return a unique id for the user constraint, after successful creation, or -1 for an invalid constraint id</summary>
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[DllImport(__DllName, EntryPoint = "b3GetStatusUserConstraintUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusUserConstraintUniqueId ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
/// <summary>change parameters of an existing user constraint</summary>
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[DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitChangeUserConstraintCommand ( b3PhysicsClientHandle__ * physClient , int userConstraintUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetPivotInB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3InitChangeUserConstraintSetPivotInB ( b3SharedMemoryCommandHandle__ * commandHandle , double * jointChildPivot ) ;
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[DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetFrameInB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3InitChangeUserConstraintSetFrameInB ( b3SharedMemoryCommandHandle__ * commandHandle , double * jointChildFrameOrn ) ;
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[DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetMaxForce", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3InitChangeUserConstraintSetMaxForce ( b3SharedMemoryCommandHandle__ * commandHandle , double maxAppliedForce ) ;
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[DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetGearRatio", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3InitChangeUserConstraintSetGearRatio ( b3SharedMemoryCommandHandle__ * commandHandle , double gearRatio ) ;
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[DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetGearAuxLink", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3InitChangeUserConstraintSetGearAuxLink ( b3SharedMemoryCommandHandle__ * commandHandle , int gearAuxLink ) ;
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[DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetRelativePositionTarget", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3InitChangeUserConstraintSetRelativePositionTarget ( b3SharedMemoryCommandHandle__ * commandHandle , double relativePositionTarget ) ;
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[DllImport(__DllName, EntryPoint = "b3InitChangeUserConstraintSetERP", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3InitChangeUserConstraintSetERP ( b3SharedMemoryCommandHandle__ * commandHandle , double erp ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRemoveUserConstraintCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRemoveUserConstraintCommand ( b3PhysicsClientHandle__ * physClient , int userConstraintUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3GetNumUserConstraints", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetNumUserConstraints ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitGetUserConstraintStateCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitGetUserConstraintStateCommand ( b3PhysicsClientHandle__ * physClient , int constraintUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusUserConstraintState", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusUserConstraintState ( b3SharedMemoryStatusHandle__ * statusHandle , b3UserConstraintState * constraintState ) ;
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[DllImport(__DllName, EntryPoint = "b3GetUserConstraintInfo", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetUserConstraintInfo ( b3PhysicsClientHandle__ * physClient , int constraintUniqueId , b3UserConstraint * info ) ;
/// <summary>return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )</summary>
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[DllImport(__DllName, EntryPoint = "b3GetUserConstraintId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetUserConstraintId ( b3PhysicsClientHandle__ * physClient , int serialIndex ) ;
/// <summary>Request physics debug lines for debug visualization. The flags in debugMode are the same as used in BulletSee btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h</summary>
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[DllImport(__DllName, EntryPoint = "b3InitRequestDebugLinesCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRequestDebugLinesCommand ( b3PhysicsClientHandle__ * physClient , int debugMode ) ;
/// <summary>Get the pointers to the physics debug line information, after b3InitRequestDebugLinesCommand returnsstatus CMD_DEBUG_LINES_COMPLETED</summary>
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[DllImport(__DllName, EntryPoint = "b3GetDebugLines", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetDebugLines ( b3PhysicsClientHandle__ * physClient , b3DebugLines * lines ) ;
/// <summary>configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)</summary>
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[DllImport(__DllName, EntryPoint = "b3InitConfigureOpenGLVisualizer", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitConfigureOpenGLVisualizer ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitConfigureOpenGLVisualizer2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitConfigureOpenGLVisualizer2 ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetVisualizationFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ConfigureOpenGLVisualizerSetVisualizationFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flag , int enabled ) ;
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[DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetLightPosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ConfigureOpenGLVisualizerSetLightPosition ( b3SharedMemoryCommandHandle__ * commandHandle , float * lightPosition ) ;
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[DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetShadowMapResolution", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ConfigureOpenGLVisualizerSetShadowMapResolution ( b3SharedMemoryCommandHandle__ * commandHandle , int shadowMapResolution ) ;
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[DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetShadowMapIntensity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ConfigureOpenGLVisualizerSetShadowMapIntensity ( b3SharedMemoryCommandHandle__ * commandHandle , double shadowMapIntensity ) ;
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[DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetLightRgbBackground", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ConfigureOpenGLVisualizerSetLightRgbBackground ( b3SharedMemoryCommandHandle__ * commandHandle , float * rgbBackground ) ;
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[DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetShadowMapWorldSize", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize ( b3SharedMemoryCommandHandle__ * commandHandle , int shadowMapWorldSize ) ;
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[DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval ( b3SharedMemoryCommandHandle__ * commandHandle , double remoteSyncTransformInterval ) ;
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[DllImport(__DllName, EntryPoint = "b3ConfigureOpenGLVisualizerSetViewMatrix", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ConfigureOpenGLVisualizerSetViewMatrix ( b3SharedMemoryCommandHandle__ * commandHandle , float cameraDistance , float cameraPitch , float cameraYaw , float * cameraTargetPosition ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRequestOpenGLVisualizerCameraCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRequestOpenGLVisualizerCameraCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusOpenGLVisualizerCamera", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusOpenGLVisualizerCamera ( b3SharedMemoryStatusHandle__ * statusHandle , b3OpenGLVisualizerCameraInfo * camera ) ;
/// <summary>Add/remove user-specific debug lines and debug text messages</summary>
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[DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawAddLine3D", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUserDebugDrawAddLine3D ( b3PhysicsClientHandle__ * physClient , double * fromXYZ , double * toXYZ , double * colorRGB , double lineWidth , double lifeTime ) ;
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[DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawAddPoints3D", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUserDebugDrawAddPoints3D ( b3PhysicsClientHandle__ * physClient , double * positionsXYZ , double * colorsRGB , double pointSize , double lifeTime , int pointNum ) ;
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[DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawAddText3D", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUserDebugDrawAddText3D ( b3PhysicsClientHandle__ * physClient , byte * txt , double * positionXYZ , double * colorRGB , double textSize , double lifeTime ) ;
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[DllImport(__DllName, EntryPoint = "b3UserDebugTextSetOptionFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3UserDebugTextSetOptionFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int optionFlags ) ;
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[DllImport(__DllName, EntryPoint = "b3UserDebugTextSetOrientation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3UserDebugTextSetOrientation ( b3SharedMemoryCommandHandle__ * commandHandle , double * orientation ) ;
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[DllImport(__DllName, EntryPoint = "b3UserDebugItemSetReplaceItemUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3UserDebugItemSetReplaceItemUniqueId ( b3SharedMemoryCommandHandle__ * commandHandle , int replaceItem ) ;
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[DllImport(__DllName, EntryPoint = "b3UserDebugItemSetParentObject", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3UserDebugItemSetParentObject ( b3SharedMemoryCommandHandle__ * commandHandle , int objectUniqueId , int linkIndex ) ;
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[DllImport(__DllName, EntryPoint = "b3InitUserDebugAddParameter", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUserDebugAddParameter ( b3PhysicsClientHandle__ * physClient , byte * txt , double rangeMin , double rangeMax , double startValue ) ;
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[DllImport(__DllName, EntryPoint = "b3InitUserDebugReadParameter", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUserDebugReadParameter ( b3PhysicsClientHandle__ * physClient , int debugItemUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusDebugParameterValue", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusDebugParameterValue ( b3SharedMemoryStatusHandle__ * statusHandle , double * paramValue ) ;
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[DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawRemove", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUserDebugDrawRemove ( b3PhysicsClientHandle__ * physClient , int debugItemUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3InitUserDebugDrawRemoveAll", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUserDebugDrawRemoveAll ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitUserRemoveAllParameters", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUserRemoveAllParameters ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitDebugDrawingCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitDebugDrawingCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3SetDebugObjectColor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetDebugObjectColor ( b3SharedMemoryCommandHandle__ * commandHandle , int objectUniqueId , int linkIndex , double * objectColorRGB ) ;
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[DllImport(__DllName, EntryPoint = "b3RemoveDebugObjectColor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RemoveDebugObjectColor ( b3SharedMemoryCommandHandle__ * commandHandle , int objectUniqueId , int linkIndex ) ;
/// <summary>All debug items unique Ids are positive: a negative unique Id means failure.</summary>
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[DllImport(__DllName, EntryPoint = "b3GetDebugItemUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetDebugItemUniqueId ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
/// <summary>request an image from a simulated camera, using a software renderer.</summary>
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[DllImport(__DllName, EntryPoint = "b3InitRequestCameraImage", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRequestCameraImage ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRequestCameraImage2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRequestCameraImage2 ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetCameraMatrices", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetCameraMatrices ( b3SharedMemoryCommandHandle__ * commandHandle , float * viewMatrix , float * projectionMatrix ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetPixelResolution", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetPixelResolution ( b3SharedMemoryCommandHandle__ * commandHandle , int width , int height ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightDirection", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetLightDirection ( b3SharedMemoryCommandHandle__ * commandHandle , float * lightDirection ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightColor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetLightColor ( b3SharedMemoryCommandHandle__ * commandHandle , float * lightColor ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightDistance", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetLightDistance ( b3SharedMemoryCommandHandle__ * commandHandle , float lightDistance ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightAmbientCoeff", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetLightAmbientCoeff ( b3SharedMemoryCommandHandle__ * commandHandle , float lightAmbientCoeff ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightDiffuseCoeff", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetLightDiffuseCoeff ( b3SharedMemoryCommandHandle__ * commandHandle , float lightDiffuseCoeff ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetLightSpecularCoeff", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetLightSpecularCoeff ( b3SharedMemoryCommandHandle__ * commandHandle , float lightSpecularCoeff ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetShadow", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetShadow ( b3SharedMemoryCommandHandle__ * commandHandle , int hasShadow ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSelectRenderer", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSelectRenderer ( b3SharedMemoryCommandHandle__ * commandHandle , int renderer ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3GetCameraImageData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetCameraImageData ( b3PhysicsClientHandle__ * physClient , b3CameraImageData * imageData ) ;
/// <summary>set projective texture camera matrices.</summary>
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetProjectiveTextureMatrices", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetProjectiveTextureMatrices ( b3SharedMemoryCommandHandle__ * commandHandle , float * viewMatrix , float * projectionMatrix ) ;
/// <summary>compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices</summary>
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[DllImport(__DllName, EntryPoint = "b3ComputeViewMatrixFromPositions", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ComputeViewMatrixFromPositions ( float * cameraPosition , float * cameraTargetPosition , float * cameraUp , float * viewMatrix ) ;
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[DllImport(__DllName, EntryPoint = "b3ComputeViewMatrixFromYawPitchRoll", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ComputeViewMatrixFromYawPitchRoll ( float * cameraTargetPosition , float distance , float yaw , float pitch , float roll , int upAxis , float * viewMatrix ) ;
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[DllImport(__DllName, EntryPoint = "b3ComputePositionFromViewMatrix", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ComputePositionFromViewMatrix ( float * viewMatrix , float * cameraPosition , float * cameraTargetPosition , float * cameraUp ) ;
/// <summary>compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices</summary>
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[DllImport(__DllName, EntryPoint = "b3ComputeProjectionMatrix", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ComputeProjectionMatrix ( float left , float right , float bottom , float top , float nearVal , float farVal , float * projectionMatrix ) ;
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[DllImport(__DllName, EntryPoint = "b3ComputeProjectionMatrixFOV", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ComputeProjectionMatrixFOV ( float fov , float aspect , float nearVal , float farVal , float * projectionMatrix ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetViewMatrix", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetViewMatrix ( b3SharedMemoryCommandHandle__ * commandHandle , float * cameraPosition , float * cameraTargetPosition , float * cameraUp ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetViewMatrix2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetViewMatrix2 ( b3SharedMemoryCommandHandle__ * commandHandle , float * cameraTargetPosition , float distance , float yaw , float pitch , float roll , int upAxis ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetProjectionMatrix", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetProjectionMatrix ( b3SharedMemoryCommandHandle__ * commandHandle , float left , float right , float bottom , float top , float nearVal , float farVal ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestCameraImageSetFOVProjectionMatrix", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RequestCameraImageSetFOVProjectionMatrix ( b3SharedMemoryCommandHandle__ * commandHandle , float fov , float aspect , float nearVal , float farVal ) ;
/// <summary>request an contact point information</summary>
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[DllImport(__DllName, EntryPoint = "b3InitRequestContactPointInformation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRequestContactPointInformation ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3SetContactFilterBodyA", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetContactFilterBodyA ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueIdA ) ;
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[DllImport(__DllName, EntryPoint = "b3SetContactFilterBodyB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetContactFilterBodyB ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueIdB ) ;
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[DllImport(__DllName, EntryPoint = "b3SetContactFilterLinkA", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetContactFilterLinkA ( b3SharedMemoryCommandHandle__ * commandHandle , int linkIndexA ) ;
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[DllImport(__DllName, EntryPoint = "b3SetContactFilterLinkB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetContactFilterLinkB ( b3SharedMemoryCommandHandle__ * commandHandle , int linkIndexB ) ;
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[DllImport(__DllName, EntryPoint = "b3GetContactPointInformation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetContactPointInformation ( b3PhysicsClientHandle__ * physClient , b3ContactInformation * contactPointData ) ;
/// <summary>compute the closest points between two bodies</summary>
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[DllImport(__DllName, EntryPoint = "b3InitClosestDistanceQuery", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitClosestDistanceQuery ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterBodyA", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterBodyA ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueIdA ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterLinkA", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterLinkA ( b3SharedMemoryCommandHandle__ * commandHandle , int linkIndexA ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterBodyB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterBodyB ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueIdB ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterLinkB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterLinkB ( b3SharedMemoryCommandHandle__ * commandHandle , int linkIndexB ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceThreshold", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceThreshold ( b3SharedMemoryCommandHandle__ * commandHandle , double distance ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapeA", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterCollisionShapeA ( b3SharedMemoryCommandHandle__ * commandHandle , int collisionShapeA ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapeB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterCollisionShapeB ( b3SharedMemoryCommandHandle__ * commandHandle , int collisionShapeB ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapePositionA", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterCollisionShapePositionA ( b3SharedMemoryCommandHandle__ * commandHandle , double * collisionShapePositionA ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapePositionB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterCollisionShapePositionB ( b3SharedMemoryCommandHandle__ * commandHandle , double * collisionShapePositionB ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapeOrientationA", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterCollisionShapeOrientationA ( b3SharedMemoryCommandHandle__ * commandHandle , double * collisionShapeOrientationA ) ;
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[DllImport(__DllName, EntryPoint = "b3SetClosestDistanceFilterCollisionShapeOrientationB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetClosestDistanceFilterCollisionShapeOrientationB ( b3SharedMemoryCommandHandle__ * commandHandle , double * collisionShapeOrientationB ) ;
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[DllImport(__DllName, EntryPoint = "b3GetClosestPointInformation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetClosestPointInformation ( b3PhysicsClientHandle__ * physClient , b3ContactInformation * contactPointInfo ) ;
/// <summary>get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)</summary>
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[DllImport(__DllName, EntryPoint = "b3InitAABBOverlapQuery", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitAABBOverlapQuery ( b3PhysicsClientHandle__ * physClient , double * aabbMin , double * aabbMax ) ;
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[DllImport(__DllName, EntryPoint = "b3GetAABBOverlapResults", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetAABBOverlapResults ( b3PhysicsClientHandle__ * physClient , b3AABBOverlapData * data ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRequestVisualShapeInformation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRequestVisualShapeInformation ( b3PhysicsClientHandle__ * physClient , int bodyUniqueIdA ) ;
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[DllImport(__DllName, EntryPoint = "b3GetVisualShapeInformation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetVisualShapeInformation ( b3PhysicsClientHandle__ * physClient , b3VisualShapeInformation * visualShapeInfo ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRequestCollisionShapeInformation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRequestCollisionShapeInformation ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int linkIndex ) ;
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[DllImport(__DllName, EntryPoint = "b3GetCollisionShapeInformation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetCollisionShapeInformation ( b3PhysicsClientHandle__ * physClient , b3CollisionShapeInformation * collisionShapeInfo ) ;
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[DllImport(__DllName, EntryPoint = "b3InitLoadTexture", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitLoadTexture ( b3PhysicsClientHandle__ * physClient , byte * filename ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusTextureUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusTextureUniqueId ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateChangeTextureCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreateChangeTextureCommandInit ( b3PhysicsClientHandle__ * physClient , int textureUniqueId , int width , int height , byte * rgbPixels ) ;
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[DllImport(__DllName, EntryPoint = "b3InitUpdateVisualShape", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUpdateVisualShape ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int jointIndex , int shapeIndex , int textureUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3InitUpdateVisualShape2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitUpdateVisualShape2 ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int jointIndex , int shapeIndex ) ;
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[DllImport(__DllName, EntryPoint = "b3UpdateVisualShapeTexture", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3UpdateVisualShapeTexture ( b3SharedMemoryCommandHandle__ * commandHandle , int textureUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3UpdateVisualShapeRGBAColor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3UpdateVisualShapeRGBAColor ( b3SharedMemoryCommandHandle__ * commandHandle , double * rgbaColor ) ;
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[DllImport(__DllName, EntryPoint = "b3UpdateVisualShapeFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3UpdateVisualShapeFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3UpdateVisualShapeSpecularColor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3UpdateVisualShapeSpecularColor ( b3SharedMemoryCommandHandle__ * commandHandle , double * specularColor ) ;
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[DllImport(__DllName, EntryPoint = "b3InitPhysicsParamCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitPhysicsParamCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitPhysicsParamCommand2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitPhysicsParamCommand2 ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetGravity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetGravity ( b3SharedMemoryCommandHandle__ * commandHandle , double gravx , double gravy , double gravz ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetTimeStep", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetTimeStep ( b3SharedMemoryCommandHandle__ * commandHandle , double timeStep ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultContactERP", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetDefaultContactERP ( b3SharedMemoryCommandHandle__ * commandHandle , double defaultContactERP ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultNonContactERP", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetDefaultNonContactERP ( b3SharedMemoryCommandHandle__ * commandHandle , double defaultNonContactERP ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultFrictionERP", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetDefaultFrictionERP ( b3SharedMemoryCommandHandle__ * commandHandle , double frictionERP ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultGlobalCFM", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetDefaultGlobalCFM ( b3SharedMemoryCommandHandle__ * commandHandle , double defaultGlobalCFM ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetDefaultFrictionCFM", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetDefaultFrictionCFM ( b3SharedMemoryCommandHandle__ * commandHandle , double frictionCFM ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetNumSubSteps", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetNumSubSteps ( b3SharedMemoryCommandHandle__ * commandHandle , int numSubSteps ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetRealTimeSimulation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetRealTimeSimulation ( b3SharedMemoryCommandHandle__ * commandHandle , int enableRealTimeSimulation ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetNumSolverIterations", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetNumSolverIterations ( b3SharedMemoryCommandHandle__ * commandHandle , int numSolverIterations ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetNumNonContactInnerIterations", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetNumNonContactInnerIterations ( b3SharedMemoryCommandHandle__ * commandHandle , int numMotorIterations ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetWarmStartingFactor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetWarmStartingFactor ( b3SharedMemoryCommandHandle__ * commandHandle , double warmStartingFactor ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetArticulatedWarmStartingFactor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetArticulatedWarmStartingFactor ( b3SharedMemoryCommandHandle__ * commandHandle , double warmStartingFactor ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetCollisionFilterMode", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetCollisionFilterMode ( b3SharedMemoryCommandHandle__ * commandHandle , int filterMode ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetUseSplitImpulse", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetUseSplitImpulse ( b3SharedMemoryCommandHandle__ * commandHandle , int useSplitImpulse ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetSplitImpulsePenetrationThreshold", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetSplitImpulsePenetrationThreshold ( b3SharedMemoryCommandHandle__ * commandHandle , double splitImpulsePenetrationThreshold ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetContactBreakingThreshold", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetContactBreakingThreshold ( b3SharedMemoryCommandHandle__ * commandHandle , double contactBreakingThreshold ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetMaxNumCommandsPer1ms", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetMaxNumCommandsPer1ms ( b3SharedMemoryCommandHandle__ * commandHandle , int maxNumCmdPer1ms ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetEnableFileCaching", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetEnableFileCaching ( b3SharedMemoryCommandHandle__ * commandHandle , int enableFileCaching ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetRestitutionVelocityThreshold", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetRestitutionVelocityThreshold ( b3SharedMemoryCommandHandle__ * commandHandle , double restitutionVelocityThreshold ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetEnableConeFriction", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetEnableConeFriction ( b3SharedMemoryCommandHandle__ * commandHandle , int enableConeFriction ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetDeterministicOverlappingPairs", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParameterSetDeterministicOverlappingPairs ( b3SharedMemoryCommandHandle__ * commandHandle , int deterministicOverlappingPairs ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetAllowedCcdPenetration", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParameterSetAllowedCcdPenetration ( b3SharedMemoryCommandHandle__ * commandHandle , double allowedCcdPenetration ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetJointFeedbackMode", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParameterSetJointFeedbackMode ( b3SharedMemoryCommandHandle__ * commandHandle , int jointFeedbackMode ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetSolverResidualThreshold", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetSolverResidualThreshold ( b3SharedMemoryCommandHandle__ * commandHandle , double solverResidualThreshold ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetContactSlop", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetContactSlop ( b3SharedMemoryCommandHandle__ * commandHandle , double contactSlop ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetEnableSAT", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParameterSetEnableSAT ( b3SharedMemoryCommandHandle__ * commandHandle , int enableSAT ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetConstraintSolverType", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParameterSetConstraintSolverType ( b3SharedMemoryCommandHandle__ * commandHandle , int constraintSolverType ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetMinimumSolverIslandSize", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParameterSetMinimumSolverIslandSize ( b3SharedMemoryCommandHandle__ * commandHandle , int minimumSolverIslandSize ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetSolverAnalytics", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetSolverAnalytics ( b3SharedMemoryCommandHandle__ * commandHandle , int reportSolverAnalytics ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParameterSetSparseSdfVoxelSize", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParameterSetSparseSdfVoxelSize ( b3SharedMemoryCommandHandle__ * commandHandle , double sparseSdfVoxelSize ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRequestPhysicsParamCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRequestPhysicsParamCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusPhysicsSimulationParameters", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusPhysicsSimulationParameters ( b3SharedMemoryStatusHandle__ * statusHandle , b3PhysicsSimulationParameters * @params ) ;
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[DllImport(__DllName, EntryPoint = "b3PhysicsParamSetInternalSimFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3PhysicsParamSetInternalSimFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3InitStepSimulationCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitStepSimulationCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitStepSimulationCommand2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitStepSimulationCommand2 ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3InitPerformCollisionDetectionCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitPerformCollisionDetectionCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusForwardDynamicsAnalyticsData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusForwardDynamicsAnalyticsData ( b3SharedMemoryStatusHandle__ * statusHandle , b3ForwardDynamicsAnalyticsArgs * analyticsData ) ;
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[DllImport(__DllName, EntryPoint = "b3InitResetSimulationCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitResetSimulationCommand ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitResetSimulationCommand2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitResetSimulationCommand2 ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3InitResetSimulationSetFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3InitResetSimulationSetFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
/// <summary>Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);</summary>
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[DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3LoadUrdfCommandInit ( b3PhysicsClientHandle__ * physClient , byte * urdfFileName ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandInit2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3LoadUrdfCommandInit2 ( b3SharedMemoryCommandHandle__ * commandHandle , byte * urdfFileName ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetStartPosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadUrdfCommandSetStartPosition ( b3SharedMemoryCommandHandle__ * commandHandle , double startPosX , double startPosY , double startPosZ ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetStartOrientation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadUrdfCommandSetStartOrientation ( b3SharedMemoryCommandHandle__ * commandHandle , double startOrnX , double startOrnY , double startOrnZ , double startOrnW ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetUseMultiBody", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadUrdfCommandSetUseMultiBody ( b3SharedMemoryCommandHandle__ * commandHandle , int useMultiBody ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetUseFixedBase", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadUrdfCommandSetUseFixedBase ( b3SharedMemoryCommandHandle__ * commandHandle , int useFixedBase ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadUrdfCommandSetFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadUrdfCommandSetGlobalScaling", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadUrdfCommandSetGlobalScaling ( b3SharedMemoryCommandHandle__ * commandHandle , double globalScaling ) ;
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[DllImport(__DllName, EntryPoint = "b3SaveStateCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3SaveStateCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRemoveStateCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRemoveStateCommand ( b3PhysicsClientHandle__ * physClient , int stateId ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusGetStateId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusGetStateId ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadStateCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3LoadStateCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadStateSetStateId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadStateSetStateId ( b3SharedMemoryCommandHandle__ * commandHandle , int stateId ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadStateSetFileName", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadStateSetFileName ( b3SharedMemoryCommandHandle__ * commandHandle , byte * fileName ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadBulletCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3LoadBulletCommandInit ( b3PhysicsClientHandle__ * physClient , byte * fileName ) ;
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[DllImport(__DllName, EntryPoint = "b3SaveBulletCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3SaveBulletCommandInit ( b3PhysicsClientHandle__ * physClient , byte * fileName ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadMJCFCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3LoadMJCFCommandInit ( b3PhysicsClientHandle__ * physClient , byte * fileName ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadMJCFCommandInit2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3LoadMJCFCommandInit2 ( b3SharedMemoryCommandHandle__ * commandHandle , byte * fileName ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadMJCFCommandSetFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3LoadMJCFCommandSetFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadMJCFCommandSetUseMultiBody", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3LoadMJCFCommandSetUseMultiBody ( b3SharedMemoryCommandHandle__ * commandHandle , int useMultiBody ) ;
/// <summary>compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics</summary>
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseDynamicsCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CalculateInverseDynamicsCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , double * jointPositionsQ , double * jointVelocitiesQdot , double * jointAccelerations ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseDynamicsCommandInit2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CalculateInverseDynamicsCommandInit2 ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , double * jointPositionsQ , int dofCountQ , double * jointVelocitiesQdot , double * jointAccelerations , int dofCountQdot ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseDynamicsSetFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseDynamicsSetFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusInverseDynamicsJointForces", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusInverseDynamicsJointForces ( b3SharedMemoryStatusHandle__ * statusHandle , int * bodyUniqueId , int * dofCount , double * jointForces ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateJacobianCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CalculateJacobianCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int linkIndex , double * localPosition , double * jointPositionsQ , double * jointVelocitiesQdot , double * jointAccelerations ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusJacobian", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusJacobian ( b3SharedMemoryStatusHandle__ * statusHandle , int * dofCount , double * linearJacobian , double * angularJacobian ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateMassMatrixCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CalculateMassMatrixCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , double * jointPositionsQ , int dofCountQ ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateMassMatrixSetFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateMassMatrixSetFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
/// <summary>the mass matrix is stored in column-major layout of size dofCount*dofCount</summary>
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[DllImport(__DllName, EntryPoint = "b3GetStatusMassMatrix", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusMassMatrix ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryStatusHandle__ * statusHandle , int * dofCount , double * massMatrix ) ;
/// <summary>compute the joint positions to move the end effector to a desired target using inverse kinematics</summary>
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CalculateInverseKinematicsCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsAddTargetPurePosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsAddTargetPurePosition ( b3SharedMemoryCommandHandle__ * commandHandle , int endEffectorLinkIndex , double * targetPosition ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsAddTargetsPurePosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsAddTargetsPurePosition ( b3SharedMemoryCommandHandle__ * commandHandle , int numEndEffectorLinkIndices , int * endEffectorIndices , double * targetPositions ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsAddTargetPositionWithOrientation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsAddTargetPositionWithOrientation ( b3SharedMemoryCommandHandle__ * commandHandle , int endEffectorLinkIndex , double * targetPosition , double * targetOrientation ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsPosWithNullSpaceVel", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsPosWithNullSpaceVel ( b3SharedMemoryCommandHandle__ * commandHandle , int numDof , int endEffectorLinkIndex , double * targetPosition , double * lowerLimit , double * upperLimit , double * jointRange , double * restPose ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsPosOrnWithNullSpaceVel", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel ( b3SharedMemoryCommandHandle__ * commandHandle , int numDof , int endEffectorLinkIndex , double * targetPosition , double * targetOrientation , double * lowerLimit , double * upperLimit , double * jointRange , double * restPose ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSetJointDamping", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsSetJointDamping ( b3SharedMemoryCommandHandle__ * commandHandle , int numDof , double * jointDampingCoeff ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSelectSolver", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsSelectSolver ( b3SharedMemoryCommandHandle__ * commandHandle , int solver ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusInverseKinematicsJointPositions", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusInverseKinematicsJointPositions ( b3SharedMemoryStatusHandle__ * statusHandle , int * bodyUniqueId , int * dofCount , double * jointPositions ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSetCurrentPositions", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsSetCurrentPositions ( b3SharedMemoryCommandHandle__ * commandHandle , int numDof , double * currentJointPositions ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSetMaxNumIterations", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsSetMaxNumIterations ( b3SharedMemoryCommandHandle__ * commandHandle , int maxNumIterations ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateInverseKinematicsSetResidualThreshold", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateInverseKinematicsSetResidualThreshold ( b3SharedMemoryCommandHandle__ * commandHandle , double residualThreshold ) ;
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[DllImport(__DllName, EntryPoint = "b3CollisionFilterCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CollisionFilterCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3SetCollisionFilterPair", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetCollisionFilterPair ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueIdA , int bodyUniqueIdB , int linkIndexA , int linkIndexB , int enableCollision ) ;
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[DllImport(__DllName, EntryPoint = "b3SetCollisionFilterGroupMask", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetCollisionFilterGroupMask ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueIdA , int linkIndexA , int collisionFilterGroup , int collisionFilterMask ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSdfCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3LoadSdfCommandInit ( b3PhysicsClientHandle__ * physClient , byte * sdfFileName ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSdfCommandInit2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3LoadSdfCommandInit2 ( b3SharedMemoryCommandHandle__ * commandHandle , byte * sdfFileName ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSdfCommandSetUseMultiBody", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSdfCommandSetUseMultiBody ( b3SharedMemoryCommandHandle__ * commandHandle , int useMultiBody ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSdfCommandSetUseGlobalScaling", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSdfCommandSetUseGlobalScaling ( b3SharedMemoryCommandHandle__ * commandHandle , double globalScaling ) ;
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[DllImport(__DllName, EntryPoint = "b3SaveWorldCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3SaveWorldCommandInit ( b3PhysicsClientHandle__ * physClient , byte * sdfFileName ) ;
/// <summary>The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead</summary>
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[DllImport(__DllName, EntryPoint = "b3JointControlCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3JointControlCommandInit ( b3PhysicsClientHandle__ * physClient , int controlMode ) ;
/// <summary>Set joint motor control variables such as desired position/angle, desired velocity,applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)</summary>
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[DllImport(__DllName, EntryPoint = "b3JointControlCommandInit2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3JointControlCommandInit2 ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int controlMode ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlCommandInit2Internal", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3JointControlCommandInit2Internal ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int controlMode ) ;
/// <summary>Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD</summary>
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[DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredPosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetDesiredPosition ( b3SharedMemoryCommandHandle__ * commandHandle , int qIndex , double value ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredPositionMultiDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetDesiredPositionMultiDof ( b3SharedMemoryCommandHandle__ * commandHandle , int qIndex , double * position , int dofCount ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetKp", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetKp ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double value ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetKpMultiDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetKpMultiDof ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double * kps , int dofCount ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetKd", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetKd ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double value ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetKdMultiDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetKdMultiDof ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double * kds , int dofCount ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetMaximumVelocity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetMaximumVelocity ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double maximumVelocity ) ;
/// <summary>Only use when controlMode is CONTROL_MODE_VELOCITY</summary>
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[DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredVelocity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetDesiredVelocity ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double value ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredVelocityMultiDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetDesiredVelocityMultiDof ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double * velocity , int dofCount ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredVelocityMultiDof2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetDesiredVelocityMultiDof2 ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double * velocity , int dofCount ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetMaximumForce", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetMaximumForce ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double value ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredForceTorqueMultiDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetDesiredForceTorqueMultiDof ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double * forces , int dofCount ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetDamping", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetDamping ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double value ) ;
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[DllImport(__DllName, EntryPoint = "b3JointControlSetDampingMultiDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetDampingMultiDof ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double * damping , int dofCount ) ;
/// <summary>Only use if when controlMode is CONTROL_MODE_TORQUE,</summary>
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[DllImport(__DllName, EntryPoint = "b3JointControlSetDesiredForceTorque", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3JointControlSetDesiredForceTorque ( b3SharedMemoryCommandHandle__ * commandHandle , int dofIndex , double value ) ;
/// <summary>the creation of collision shapes and rigid bodies etc is likely going to change,but good to have a b3CreateBoxShapeCommandInit for now</summary>
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreateCollisionShapeCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddSphere", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddSphere ( b3SharedMemoryCommandHandle__ * commandHandle , double radius ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddBox", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddBox ( b3SharedMemoryCommandHandle__ * commandHandle , double * halfExtents ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddCapsule", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddCapsule ( b3SharedMemoryCommandHandle__ * commandHandle , double radius , double height ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddCylinder", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddCylinder ( b3SharedMemoryCommandHandle__ * commandHandle , double radius , double height ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddHeightfield", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddHeightfield ( b3SharedMemoryCommandHandle__ * commandHandle , byte * fileName , double * meshScale , double textureScaling ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddHeightfield2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddHeightfield2 ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , double * meshScale , double textureScaling , float * heightfieldData , int numHeightfieldRows , int numHeightfieldColumns , int replaceHeightfieldIndex ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddPlane", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddPlane ( b3SharedMemoryCommandHandle__ * commandHandle , double * planeNormal , double planeConstant ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddMesh", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddMesh ( b3SharedMemoryCommandHandle__ * commandHandle , byte * fileName , double * meshScale ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddConvexMesh", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddConvexMesh ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , double * meshScale , double * vertices , int numVertices ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeAddConcaveMesh", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateCollisionShapeAddConcaveMesh ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , double * meshScale , double * vertices , int numVertices , int * indices , int numIndices ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionSetFlag", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CreateCollisionSetFlag ( b3SharedMemoryCommandHandle__ * commandHandle , int shapeIndex , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateCollisionShapeSetChildTransform", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CreateCollisionShapeSetChildTransform ( b3SharedMemoryCommandHandle__ * commandHandle , int shapeIndex , double * childPosition , double * childOrientation ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusCollisionShapeUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusCollisionShapeUniqueId ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3InitRemoveCollisionShapeCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitRemoveCollisionShapeCommand ( b3PhysicsClientHandle__ * physClient , int collisionShapeId ) ;
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[DllImport(__DllName, EntryPoint = "b3GetMeshDataCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3GetMeshDataCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int linkIndex ) ;
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[DllImport(__DllName, EntryPoint = "b3GetTetraMeshDataCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3GetTetraMeshDataCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3GetMeshDataSimulationMesh", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetMeshDataSimulationMesh ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3MeshDataSimulationMeshVelocity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3MeshDataSimulationMeshVelocity ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3GetMeshDataSetCollisionShapeIndex", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetMeshDataSetCollisionShapeIndex ( b3SharedMemoryCommandHandle__ * commandHandle , int shapeIndex ) ;
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[DllImport(__DllName, EntryPoint = "b3GetMeshDataSetFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetMeshDataSetFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3GetTetraMeshDataSetFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetTetraMeshDataSetFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3GetMeshData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetMeshData ( b3PhysicsClientHandle__ * physClient , b3MeshData * meshData ) ;
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[DllImport(__DllName, EntryPoint = "b3GetTetraMeshData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetTetraMeshData ( b3PhysicsClientHandle__ * physClient , b3TetraMeshData * meshData ) ;
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[DllImport(__DllName, EntryPoint = "b3ResetMeshDataCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3ResetMeshDataCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId , int num_vertices , double * vertices ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreateVisualShapeCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddSphere", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateVisualShapeAddSphere ( b3SharedMemoryCommandHandle__ * commandHandle , double radius ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddBox", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateVisualShapeAddBox ( b3SharedMemoryCommandHandle__ * commandHandle , double * halfExtents ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddCapsule", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateVisualShapeAddCapsule ( b3SharedMemoryCommandHandle__ * commandHandle , double radius , double height ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddCylinder", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateVisualShapeAddCylinder ( b3SharedMemoryCommandHandle__ * commandHandle , double radius , double height ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddPlane", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateVisualShapeAddPlane ( b3SharedMemoryCommandHandle__ * commandHandle , double * planeNormal , double planeConstant ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddMesh", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateVisualShapeAddMesh ( b3SharedMemoryCommandHandle__ * commandHandle , byte * fileName , double * meshScale ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeAddMesh2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateVisualShapeAddMesh2 ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , double * meshScale , double * vertices , int numVertices , int * indices , int numIndices , double * normals , int numNormals , double * uvs , int numUVs ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualSetFlag", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CreateVisualSetFlag ( b3SharedMemoryCommandHandle__ * commandHandle , int shapeIndex , int flags ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeSetChildTransform", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CreateVisualShapeSetChildTransform ( b3SharedMemoryCommandHandle__ * commandHandle , int shapeIndex , double * childPosition , double * childOrientation ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeSetSpecularColor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CreateVisualShapeSetSpecularColor ( b3SharedMemoryCommandHandle__ * commandHandle , int shapeIndex , double * specularColor ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateVisualShapeSetRGBAColor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CreateVisualShapeSetRGBAColor ( b3SharedMemoryCommandHandle__ * commandHandle , int shapeIndex , double * rgbaColor ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusVisualShapeUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusVisualShapeUniqueId ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateMultiBodyCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreateMultiBodyCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateMultiBodyBase", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateMultiBodyBase ( b3SharedMemoryCommandHandle__ * commandHandle , double mass , int collisionShapeUnique , int visualShapeUniqueId , double * basePosition , double * baseOrientation , double * baseInertialFramePosition , double * baseInertialFrameOrientation ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateMultiBodyLink", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateMultiBodyLink ( b3SharedMemoryCommandHandle__ * commandHandle , double linkMass , double linkCollisionShapeIndex , double linkVisualShapeIndex , double * linkPosition , double * linkOrientation , double * linkInertialFramePosition , double * linkInertialFrameOrientation , int linkParentIndex , int linkJointType , double * linkJointAxis ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateMultiBodySetBatchPositions", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateMultiBodySetBatchPositions ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , double * batchPositions , int numBatchObjects ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateMultiBodyUseMaximalCoordinates", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CreateMultiBodyUseMaximalCoordinates ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateMultiBodySetFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CreateMultiBodySetFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int flags ) ;
/// <summary>create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)after that, you can optionally adjust the initial position, orientation and size</summary>
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[DllImport(__DllName, EntryPoint = "b3CreateBoxShapeCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreateBoxShapeCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetStartPosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateBoxCommandSetStartPosition ( b3SharedMemoryCommandHandle__ * commandHandle , double startPosX , double startPosY , double startPosZ ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetStartOrientation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateBoxCommandSetStartOrientation ( b3SharedMemoryCommandHandle__ * commandHandle , double startOrnX , double startOrnY , double startOrnZ , double startOrnW ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetHalfExtents", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateBoxCommandSetHalfExtents ( b3SharedMemoryCommandHandle__ * commandHandle , double halfExtentsX , double halfExtentsY , double halfExtentsZ ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetMass", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateBoxCommandSetMass ( b3SharedMemoryCommandHandle__ * commandHandle , double mass ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetCollisionShapeType", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateBoxCommandSetCollisionShapeType ( b3SharedMemoryCommandHandle__ * commandHandle , int collisionShapeType ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateBoxCommandSetColorRGBA", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateBoxCommandSetColorRGBA ( b3SharedMemoryCommandHandle__ * commandHandle , double red , double green , double blue , double alpha ) ;
/// <summary>b3CreatePoseCommandInit will initialize (teleport) the pose of a body/robot. You can individually set the base position,base orientation and joint angles. This will set all velocities of base and joints to zero.This is not a robot control command using actuators/joint motors, but manual repositioning the robot.</summary>
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreatePoseCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandInit2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreatePoseCommandInit2 ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBasePosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetBasePosition ( b3SharedMemoryCommandHandle__ * commandHandle , double startPosX , double startPosY , double startPosZ ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBaseOrientation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetBaseOrientation ( b3SharedMemoryCommandHandle__ * commandHandle , double startOrnX , double startOrnY , double startOrnZ , double startOrnW ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBaseLinearVelocity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetBaseLinearVelocity ( b3SharedMemoryCommandHandle__ * commandHandle , double * linVel ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBaseAngularVelocity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetBaseAngularVelocity ( b3SharedMemoryCommandHandle__ * commandHandle , double * angVel ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetBaseScaling", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetBaseScaling ( b3SharedMemoryCommandHandle__ * commandHandle , double * scaling ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointPositions", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetJointPositions ( b3SharedMemoryCommandHandle__ * commandHandle , int numJointPositions , double * jointPositions ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointPosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetJointPosition ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , int jointIndex , double jointPosition ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointPositionMultiDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetJointPositionMultiDof ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , int jointIndex , double * jointPosition , int posSize ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetQ", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetQ ( b3SharedMemoryCommandHandle__ * commandHandle , int numJointPositions , double * q , int * hasQ ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetQdots", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetQdots ( b3SharedMemoryCommandHandle__ * commandHandle , int numJointVelocities , double * qDots , int * hasQdots ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointVelocities", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetJointVelocities ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , int numJointVelocities , double * jointVelocities ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointVelocity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetJointVelocity ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , int jointIndex , double jointVelocity ) ;
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[DllImport(__DllName, EntryPoint = "b3CreatePoseCommandSetJointVelocityMultiDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreatePoseCommandSetJointVelocityMultiDof ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , int jointIndex , double * jointVelocity , int velSize ) ;
/// <summary>We are currently not reading the sensor information from the URDF file, and programmatically assign sensors.This is rather inconsistent, to mix programmatical creation with loading from file.</summary>
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[DllImport(__DllName, EntryPoint = "b3CreateSensorCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreateSensorCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateSensorEnable6DofJointForceTorqueSensor", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateSensorEnable6DofJointForceTorqueSensor ( b3SharedMemoryCommandHandle__ * commandHandle , int jointIndex , int enable ) ;
/// <summary>b3CreateSensorEnableIMUForLink is not implemented yet.For now, if the IMU is located in the root link, use the root world transform to mimic an IMU.</summary>
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[DllImport(__DllName, EntryPoint = "b3CreateSensorEnableIMUForLink", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3CreateSensorEnableIMUForLink ( b3SharedMemoryCommandHandle__ * commandHandle , int linkIndex , int enable ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestActualStateCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3RequestActualStateCommandInit ( b3PhysicsClientHandle__ * physClient , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestActualStateCommandInit2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3RequestActualStateCommandInit2 ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestActualStateCommandComputeLinkVelocity", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3RequestActualStateCommandComputeLinkVelocity ( b3SharedMemoryCommandHandle__ * commandHandle , int computeLinkVelocity ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestActualStateCommandComputeForwardKinematics", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3RequestActualStateCommandComputeForwardKinematics ( b3SharedMemoryCommandHandle__ * commandHandle , int computeForwardKinematics ) ;
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[DllImport(__DllName, EntryPoint = "b3GetJointState", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetJointState ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryStatusHandle__ * statusHandle , int jointIndex , b3JointSensorState * state ) ;
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[DllImport(__DllName, EntryPoint = "b3GetJointStateMultiDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetJointStateMultiDof ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryStatusHandle__ * statusHandle , int jointIndex , b3JointSensorState2 * state ) ;
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[DllImport(__DllName, EntryPoint = "b3GetLinkState", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetLinkState ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryStatusHandle__ * statusHandle , int linkIndex , b3LinkState * state ) ;
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[DllImport(__DllName, EntryPoint = "b3PickBody", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3PickBody ( b3PhysicsClientHandle__ * physClient , double rayFromWorldX , double rayFromWorldY , double rayFromWorldZ , double rayToWorldX , double rayToWorldY , double rayToWorldZ ) ;
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[DllImport(__DllName, EntryPoint = "b3MovePickedBody", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3MovePickedBody ( b3PhysicsClientHandle__ * physClient , double rayFromWorldX , double rayFromWorldY , double rayFromWorldZ , double rayToWorldX , double rayToWorldY , double rayToWorldZ ) ;
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[DllImport(__DllName, EntryPoint = "b3RemovePickingConstraint", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3RemovePickingConstraint ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateRaycastCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreateRaycastCommandInit ( b3PhysicsClientHandle__ * physClient , double rayFromWorldX , double rayFromWorldY , double rayFromWorldZ , double rayToWorldX , double rayToWorldY , double rayToWorldZ ) ;
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[DllImport(__DllName, EntryPoint = "b3CreateRaycastBatchCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3CreateRaycastBatchCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3RaycastBatchSetNumThreads", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RaycastBatchSetNumThreads ( b3SharedMemoryCommandHandle__ * commandHandle , int numThreads ) ;
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[DllImport(__DllName, EntryPoint = "b3RaycastBatchAddRay", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RaycastBatchAddRay ( b3SharedMemoryCommandHandle__ * commandHandle , double * rayFromWorld , double * rayToWorld ) ;
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[DllImport(__DllName, EntryPoint = "b3RaycastBatchAddRays", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RaycastBatchAddRays ( b3PhysicsClientHandle__ * physClient , b3SharedMemoryCommandHandle__ * commandHandle , double * rayFromWorld , double * rayToWorld , int numRays ) ;
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[DllImport(__DllName, EntryPoint = "b3RaycastBatchSetParentObject", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RaycastBatchSetParentObject ( b3SharedMemoryCommandHandle__ * commandHandle , int parentObjectUniqueId , int parentLinkIndex ) ;
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[DllImport(__DllName, EntryPoint = "b3RaycastBatchSetReportHitNumber", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RaycastBatchSetReportHitNumber ( b3SharedMemoryCommandHandle__ * commandHandle , int reportHitNumber ) ;
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[DllImport(__DllName, EntryPoint = "b3RaycastBatchSetCollisionFilterMask", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RaycastBatchSetCollisionFilterMask ( b3SharedMemoryCommandHandle__ * commandHandle , int collisionFilterMask ) ;
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[DllImport(__DllName, EntryPoint = "b3RaycastBatchSetFractionEpsilon", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RaycastBatchSetFractionEpsilon ( b3SharedMemoryCommandHandle__ * commandHandle , double fractionEpsilon ) ;
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[DllImport(__DllName, EntryPoint = "b3GetRaycastInformation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetRaycastInformation ( b3PhysicsClientHandle__ * physClient , b3RaycastInformation * raycastInfo ) ;
/// <summary>Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates.</summary>
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[DllImport(__DllName, EntryPoint = "b3ApplyExternalForceCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3ApplyExternalForceCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3ApplyExternalForce", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ApplyExternalForce ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkId , double * force , double * position , int flag ) ;
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[DllImport(__DllName, EntryPoint = "b3ApplyExternalTorque", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3ApplyExternalTorque ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyUniqueId , int linkId , double * torque , int flag ) ;
/// <summary>experiments of robots interacting with non-rigid objects (such as btSoftBody)</summary>
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodyCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3LoadSoftBodyCommandInit ( b3PhysicsClientHandle__ * physClient , byte * fileName ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetScale", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodySetScale ( b3SharedMemoryCommandHandle__ * commandHandle , double scale ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetMass", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodySetMass ( b3SharedMemoryCommandHandle__ * commandHandle , double mass ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetCollisionMargin", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodySetCollisionMargin ( b3SharedMemoryCommandHandle__ * commandHandle , double collisionMargin ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetStartPosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodySetStartPosition ( b3SharedMemoryCommandHandle__ * commandHandle , double startPosX , double startPosY , double startPosZ ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetStartOrientation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodySetStartOrientation ( b3SharedMemoryCommandHandle__ * commandHandle , double startOrnX , double startOrnY , double startOrnZ , double startOrnW ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodyUpdateSimMesh", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodyUpdateSimMesh ( b3SharedMemoryCommandHandle__ * commandHandle , byte * filename ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodyAddCorotatedForce", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodyAddCorotatedForce ( b3SharedMemoryCommandHandle__ * commandHandle , double corotatedMu , double corotatedLambda ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodyAddNeoHookeanForce", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodyAddNeoHookeanForce ( b3SharedMemoryCommandHandle__ * commandHandle , double NeoHookeanMu , double NeoHookeanLambda , double NeoHookeanDamping ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodyAddMassSpringForce", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodyAddMassSpringForce ( b3SharedMemoryCommandHandle__ * commandHandle , double springElasticStiffness , double springDampingStiffness ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodyAddGravityForce", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodyAddGravityForce ( b3SharedMemoryCommandHandle__ * commandHandle , double gravityX , double gravityY , double gravityZ ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetCollisionHardness", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodySetCollisionHardness ( b3SharedMemoryCommandHandle__ * commandHandle , double collisionHardness ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetSelfCollision", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodySetSelfCollision ( b3SharedMemoryCommandHandle__ * commandHandle , int useSelfCollision ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetRepulsionStiffness", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodySetRepulsionStiffness ( b3SharedMemoryCommandHandle__ * commandHandle , double stiffness ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodyUseFaceContact", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodyUseFaceContact ( b3SharedMemoryCommandHandle__ * commandHandle , int useFaceContact ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodySetFrictionCoefficient", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodySetFrictionCoefficient ( b3SharedMemoryCommandHandle__ * commandHandle , double frictionCoefficient ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodyUseBendingSprings", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodyUseBendingSprings ( b3SharedMemoryCommandHandle__ * commandHandle , int useBendingSprings , double bendingStiffness ) ;
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[DllImport(__DllName, EntryPoint = "b3LoadSoftBodyUseAllDirectionDampingSprings", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3LoadSoftBodyUseAllDirectionDampingSprings ( b3SharedMemoryCommandHandle__ * commandHandle , int useAllDirectionDamping ) ;
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[DllImport(__DllName, EntryPoint = "b3InitCreateSoftBodyAnchorConstraintCommand", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3InitCreateSoftBodyAnchorConstraintCommand ( b3PhysicsClientHandle__ * physClient , int softBodyUniqueId , int nodeIndex , int bodyUniqueId , int linkIndex , double * bodyFramePosition ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestVREventsCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3RequestVREventsCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3VREventsSetDeviceTypeFilter", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3VREventsSetDeviceTypeFilter ( b3SharedMemoryCommandHandle__ * commandHandle , int deviceTypeFilter ) ;
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[DllImport(__DllName, EntryPoint = "b3GetVREventsData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetVREventsData ( b3PhysicsClientHandle__ * physClient , b3VREventsData * vrEventsData ) ;
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[DllImport(__DllName, EntryPoint = "b3SetVRCameraStateCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3SetVRCameraStateCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3SetVRCameraRootPosition", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3SetVRCameraRootPosition ( b3SharedMemoryCommandHandle__ * commandHandle , double * rootPos ) ;
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[DllImport(__DllName, EntryPoint = "b3SetVRCameraRootOrientation", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3SetVRCameraRootOrientation ( b3SharedMemoryCommandHandle__ * commandHandle , double * rootOrn ) ;
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[DllImport(__DllName, EntryPoint = "b3SetVRCameraTrackingObject", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3SetVRCameraTrackingObject ( b3SharedMemoryCommandHandle__ * commandHandle , int objectUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3SetVRCameraTrackingObjectFlag", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3SetVRCameraTrackingObjectFlag ( b3SharedMemoryCommandHandle__ * commandHandle , int flag ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestKeyboardEventsCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3RequestKeyboardEventsCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestKeyboardEventsCommandInit2", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3RequestKeyboardEventsCommandInit2 ( b3SharedMemoryCommandHandle__ * commandHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3GetKeyboardEventsData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetKeyboardEventsData ( b3PhysicsClientHandle__ * physClient , b3KeyboardEventsData * keyboardEventsData ) ;
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[DllImport(__DllName, EntryPoint = "b3RequestMouseEventsCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3RequestMouseEventsCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3GetMouseEventsData", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetMouseEventsData ( b3PhysicsClientHandle__ * physClient , b3MouseEventsData * mouseEventsData ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3StateLoggingCommandInit ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingStart", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingStart ( b3SharedMemoryCommandHandle__ * commandHandle , int loggingType , byte * fileName ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingAddLoggingObjectUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingAddLoggingObjectUniqueId ( b3SharedMemoryCommandHandle__ * commandHandle , int objectUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingSetMaxLogDof", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingSetMaxLogDof ( b3SharedMemoryCommandHandle__ * commandHandle , int maxLogDof ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingSetLinkIndexA", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingSetLinkIndexA ( b3SharedMemoryCommandHandle__ * commandHandle , int linkIndexA ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingSetLinkIndexB", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingSetLinkIndexB ( b3SharedMemoryCommandHandle__ * commandHandle , int linkIndexB ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingSetBodyAUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingSetBodyAUniqueId ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyAUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingSetBodyBUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingSetBodyBUniqueId ( b3SharedMemoryCommandHandle__ * commandHandle , int bodyBUniqueId ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingSetDeviceTypeFilter", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingSetDeviceTypeFilter ( b3SharedMemoryCommandHandle__ * commandHandle , int deviceTypeFilter ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingSetLogFlags", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingSetLogFlags ( b3SharedMemoryCommandHandle__ * commandHandle , int logFlags ) ;
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[DllImport(__DllName, EntryPoint = "b3GetStatusLoggingUniqueId", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3GetStatusLoggingUniqueId ( b3SharedMemoryStatusHandle__ * statusHandle ) ;
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[DllImport(__DllName, EntryPoint = "b3StateLoggingStop", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern int b3StateLoggingStop ( b3SharedMemoryCommandHandle__ * commandHandle , int loggingUid ) ;
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[DllImport(__DllName, EntryPoint = "b3ProfileTimingCommandInit", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3ProfileTimingCommandInit ( b3PhysicsClientHandle__ * physClient , byte * name ) ;
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[DllImport(__DllName, EntryPoint = "b3SetProfileTimingDuractionInMicroSeconds", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetProfileTimingDuractionInMicroSeconds ( b3SharedMemoryCommandHandle__ * commandHandle , int duration ) ;
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[DllImport(__DllName, EntryPoint = "b3SetProfileTimingType", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetProfileTimingType ( b3SharedMemoryCommandHandle__ * commandHandle , int type_ ) ;
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[DllImport(__DllName, EntryPoint = "b3PushProfileTiming", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3PushProfileTiming ( b3PhysicsClientHandle__ * physClient , byte * timingName ) ;
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[DllImport(__DllName, EntryPoint = "b3PopProfileTiming", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3PopProfileTiming ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3SetTimeOut", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3SetTimeOut ( b3PhysicsClientHandle__ * physClient , double timeOutInSeconds ) ;
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[DllImport(__DllName, EntryPoint = "b3GetTimeOut", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern double b3GetTimeOut ( b3PhysicsClientHandle__ * physClient ) ;
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[DllImport(__DllName, EntryPoint = "b3SetAdditionalSearchPath", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern b3SharedMemoryCommandHandle__ * b3SetAdditionalSearchPath ( b3PhysicsClientHandle__ * physClient , byte * path ) ;
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[DllImport(__DllName, EntryPoint = "b3MultiplyTransforms", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3MultiplyTransforms ( double * posA , double * ornA , double * posB , double * ornB , double * outPos , double * outOrn ) ;
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[DllImport(__DllName, EntryPoint = "b3InvertTransform", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3InvertTransform ( double * pos , double * orn , double * outPos , double * outOrn ) ;
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[DllImport(__DllName, EntryPoint = "b3QuaternionSlerp", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3QuaternionSlerp ( double * startQuat , double * endQuat , double interpolationFraction , double * outOrn ) ;
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[DllImport(__DllName, EntryPoint = "b3GetQuaternionFromAxisAngle", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetQuaternionFromAxisAngle ( double * axis , double angle , double * outQuat ) ;
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[DllImport(__DllName, EntryPoint = "b3GetAxisAngleFromQuaternion", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetAxisAngleFromQuaternion ( double * quat , double * axis , double * angle ) ;
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[DllImport(__DllName, EntryPoint = "b3GetQuaternionDifference", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetQuaternionDifference ( double * startQuat , double * endQuat , double * outOrn ) ;
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[DllImport(__DllName, EntryPoint = "b3GetAxisDifferenceQuaternion", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3GetAxisDifferenceQuaternion ( double * startQuat , double * endQuat , double * axisOut ) ;
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[DllImport(__DllName, EntryPoint = "b3CalculateVelocityQuaternion", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3CalculateVelocityQuaternion ( double * startQuat , double * endQuat , double deltaTime , double * angVelOut ) ;
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[DllImport(__DllName, EntryPoint = "b3RotateVector", CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
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public static extern void b3RotateVector ( double * quat , double * vec , double * vecOut ) ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3JointInfo
{
public fixed byte m_linkName [ 1024 ] ;
public fixed byte m_jointName [ 1024 ] ;
public int m_jointType ;
public int m_qIndex ;
public int m_uIndex ;
public int m_jointIndex ;
public int m_flags ;
public double m_jointDamping ;
public double m_jointFriction ;
public double m_jointLowerLimit ;
public double m_jointUpperLimit ;
public double m_jointMaxForce ;
public double m_jointMaxVelocity ;
public fixed double m_parentFrame [ 7 ] ;
public fixed double m_childFrame [ 7 ] ;
public fixed double m_jointAxis [ 3 ] ;
public int m_parentIndex ;
public int m_qSize ;
public int m_uSize ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3UserDataValue
{
public int m_type ;
public int m_length ;
public byte * m_data1 ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3UserConstraint
{
public int m_parentBodyIndex ;
public int m_parentJointIndex ;
public int m_childBodyIndex ;
public int m_childJointIndex ;
public fixed double m_parentFrame [ 7 ] ;
public fixed double m_childFrame [ 7 ] ;
public fixed double m_jointAxis [ 3 ] ;
public int m_jointType ;
public double m_maxAppliedForce ;
public int m_userConstraintUniqueId ;
public double m_gearRatio ;
public int m_gearAuxLink ;
public double m_relativePositionTarget ;
public double m_erp ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3BodyInfo
{
public fixed byte m_baseName [ 1024 ] ;
public fixed byte m_bodyName [ 1024 ] ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3DynamicsInfo
{
public double m_mass ;
public fixed double m_localInertialDiagonal [ 3 ] ;
public fixed double m_localInertialFrame [ 7 ] ;
public double m_lateralFrictionCoeff ;
public double m_rollingFrictionCoeff ;
public double m_spinningFrictionCoeff ;
public double m_restitution ;
public double m_contactStiffness ;
public double m_contactDamping ;
public int m_activationState ;
public int m_bodyType ;
public double m_angularDamping ;
public double m_linearDamping ;
public double m_ccdSweptSphereRadius ;
public double m_contactProcessingThreshold ;
public int m_frictionAnchor ;
public double m_collisionMargin ;
public int m_dynamicType ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3JointSensorState
{
public double m_jointPosition ;
public double m_jointVelocity ;
public fixed double m_jointForceTorque [ 6 ] ;
public double m_jointMotorTorque ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3JointSensorState2
{
public fixed double m_jointPosition [ 4 ] ;
public fixed double m_jointVelocity [ 3 ] ;
public fixed double m_jointReactionForceTorque [ 6 ] ;
public fixed double m_jointMotorTorqueMultiDof [ 3 ] ;
public int m_qDofSize ;
public int m_uDofSize ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3DebugLines
{
public int m_numDebugLines ;
public float * m_linesFrom ;
public float * m_linesTo ;
public float * m_linesColor ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3OverlappingObject
{
public int m_objectUniqueId ;
public int m_linkIndex ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3AABBOverlapData
{
public int m_numOverlappingObjects ;
public b3OverlappingObject * m_overlappingObjects ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3CameraImageData
{
public int m_pixelWidth ;
public int m_pixelHeight ;
public byte * m_rgbColorData ;
public float * m_depthValues ;
public int * m_segmentationMaskValues ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3MeshVertex
{
public double x ;
public double y ;
public double z ;
public double w ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3MeshData
{
public int m_numVertices ;
public b3MeshVertex * m_vertices ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3TetraMeshData
{
public int m_numVertices ;
public b3MeshVertex * m_vertices ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3OpenGLVisualizerCameraInfo
{
public int m_width ;
public int m_height ;
public fixed float m_viewMatrix [ 16 ] ;
public fixed float m_projectionMatrix [ 16 ] ;
public fixed float m_camUp [ 3 ] ;
public fixed float m_camForward [ 3 ] ;
public fixed float m_horizontal [ 3 ] ;
public fixed float m_vertical [ 3 ] ;
public float m_yaw ;
public float m_pitch ;
public float m_dist ;
public fixed float m_target [ 3 ] ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3UserConstraintState
{
public fixed double m_appliedConstraintForces [ 6 ] ;
public int m_numDofs ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3VRControllerEvent
{
public int m_controllerId ;
public int m_deviceType ;
public int m_numMoveEvents ;
public int m_numButtonEvents ;
public fixed float m_pos [ 4 ] ;
public fixed float m_orn [ 4 ] ;
public float m_analogAxis ;
public fixed float m_auxAnalogAxis [ 10 ] ;
public fixed int m_buttons [ 64 ] ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3VREventsData
{
public int m_numControllerEvents ;
public b3VRControllerEvent * m_controllerEvents ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3KeyboardEvent
{
public int m_keyCode ;
public int m_keyState ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3KeyboardEventsData
{
public int m_numKeyboardEvents ;
public b3KeyboardEvent * m_keyboardEvents ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3MouseEvent
{
public int m_eventType ;
public float m_mousePosX ;
public float m_mousePosY ;
public int m_buttonIndex ;
public int m_buttonState ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3MouseEventsData
{
public int m_numMouseEvents ;
public b3MouseEvent * m_mouseEvents ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3ContactPointData
{
public int m_contactFlags ;
public int m_bodyUniqueIdA ;
public int m_bodyUniqueIdB ;
public int m_linkIndexA ;
public int m_linkIndexB ;
public fixed double m_positionOnAInWS [ 3 ] ;
public fixed double m_positionOnBInWS [ 3 ] ;
public fixed double m_contactNormalOnBInWS [ 3 ] ;
public double m_contactDistance ;
public double m_normalForce ;
public double m_linearFrictionForce1 ;
public double m_linearFrictionForce2 ;
public fixed double m_linearFrictionDirection1 [ 3 ] ;
public fixed double m_linearFrictionDirection2 [ 3 ] ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3ContactInformation
{
public int m_numContactPoints ;
public b3ContactPointData * m_contactPointData ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3RayHitInfo
{
public double m_hitFraction ;
public int m_hitObjectUniqueId ;
public int m_hitObjectLinkIndex ;
public fixed double m_hitPositionWorld [ 3 ] ;
public fixed double m_hitNormalWorld [ 3 ] ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3RaycastInformation
{
public int m_numRayHits ;
public b3RayHitInfo * m_rayHits ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3VisualShapeData
{
public int m_objectUniqueId ;
public int m_linkIndex ;
public int m_visualGeometryType ;
public fixed double m_dimensions [ 3 ] ;
public fixed byte m_meshAssetFileName [ 1024 ] ;
public fixed double m_localVisualFrame [ 7 ] ;
public fixed double m_rgbaColor [ 4 ] ;
public int m_tinyRendererTextureId ;
public int m_textureUniqueId ;
public int m_openglTextureId ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3VisualShapeInformation
{
public int m_numVisualShapes ;
public b3VisualShapeData * m_visualShapeData ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3CollisionShapeData
{
public int m_objectUniqueId ;
public int m_linkIndex ;
public int m_collisionGeometryType ;
public fixed double m_dimensions [ 3 ] ;
public fixed double m_localCollisionFrame [ 7 ] ;
public fixed byte m_meshAssetFileName [ 1024 ] ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3CollisionShapeInformation
{
public int m_numCollisionShapes ;
public b3CollisionShapeData * m_collisionShapeData ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3LinkState
{
public fixed double m_worldPosition [ 3 ] ;
public fixed double m_worldOrientation [ 4 ] ;
public fixed double m_localInertialPosition [ 3 ] ;
public fixed double m_localInertialOrientation [ 4 ] ;
public fixed double m_worldLinkFramePosition [ 3 ] ;
public fixed double m_worldLinkFrameOrientation [ 4 ] ;
public fixed double m_worldLinearVelocity [ 3 ] ;
public fixed double m_worldAngularVelocity [ 3 ] ;
public fixed double m_worldAABBMin [ 3 ] ;
public fixed double m_worldAABBMax [ 3 ] ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3PhysicsSimulationParameters
{
public double m_deltaTime ;
public double m_simulationTimestamp ;
public fixed double m_gravityAcceleration [ 3 ] ;
public int m_numSimulationSubSteps ;
public int m_numSolverIterations ;
public double m_warmStartingFactor ;
public double m_articulatedWarmStartingFactor ;
public int m_useRealTimeSimulation ;
public int m_useSplitImpulse ;
public double m_splitImpulsePenetrationThreshold ;
public double m_contactBreakingThreshold ;
public int m_internalSimFlags ;
public double m_defaultContactERP ;
public int m_collisionFilterMode ;
public int m_enableFileCaching ;
public double m_restitutionVelocityThreshold ;
public double m_defaultNonContactERP ;
public double m_frictionERP ;
public double m_defaultGlobalCFM ;
public double m_frictionCFM ;
public int m_enableConeFriction ;
public int m_deterministicOverlappingPairs ;
public double m_allowedCcdPenetration ;
public int m_jointFeedbackMode ;
public double m_solverResidualThreshold ;
public double m_contactSlop ;
public int m_enableSAT ;
public int m_constraintSolverType ;
public int m_minimumSolverIslandSize ;
public int m_reportSolverAnalytics ;
public double m_sparseSdfVoxelSize ;
public int m_numNonContactInnerIterations ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3ForwardDynamicsAnalyticsIslandData
{
public int m_islandId ;
public int m_numBodies ;
public int m_numContactManifolds ;
public int m_numIterationsUsed ;
public double m_remainingLeastSquaresResidual ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3ForwardDynamicsAnalyticsArgs
{
public int m_numSteps ;
public int m_numIslands ;
public int m_numSolverCalls ;
public fixed byte /* b3ForwardDynamicsAnalyticsIslandData, this length is invalid so must keep pointer and can't edit from C# */ m_islandData [ 64 ] ;
}
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[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3PhysicsClientHandle__
{
public int unused ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3SharedMemoryCommandHandle__
{
public int unused ;
}
[StructLayout(LayoutKind.Sequential)]
internal unsafe partial struct b3SharedMemoryStatusHandle__
{
public int unused ;
}
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}