From 5a868719281e8b26ecbc50488ce2fee493b6a9a1 Mon Sep 17 00:00:00 2001 From: neuecc Date: Tue, 28 Feb 2023 10:22:34 +0900 Subject: [PATCH] build success again --- csbindgen-tests/build.rs | 3 +- dotnet-sandbox/Program.cs | 6 +- dotnet-sandbox/bullet3_bindgen.cs | 1813 ----------------------------- dotnet-sandbox/lz4_bindgen.cs | 86 +- 4 files changed, 50 insertions(+), 1858 deletions(-) delete mode 100644 dotnet-sandbox/bullet3_bindgen.cs diff --git a/csbindgen-tests/build.rs b/csbindgen-tests/build.rs index 9311392..feba92c 100644 --- a/csbindgen-tests/build.rs +++ b/csbindgen-tests/build.rs @@ -39,7 +39,8 @@ fn main() -> Result<(), Box> { .rust_file_header("use super::lz4;") .rust_method_type_path("lz4") .csharp_class_name("LibLz4") - .csharp_dll_name("liblz4") + .csharp_dll_name("csbindgen_tests") + .csharp_method_prefix("csbindgen_") .generate_to_file("src/lz4_ffi.rs", "../dotnet-sandbox/lz4_bindgen.cs")?; // csbindgen::Builder::new() diff --git a/dotnet-sandbox/Program.cs b/dotnet-sandbox/Program.cs index 4368715..b303bd0 100644 --- a/dotnet-sandbox/Program.cs +++ b/dotnet-sandbox/Program.cs @@ -1,11 +1,15 @@ // See https://aka.ms/new-console-template for more information //using Csbindgen; +using CsBindgen; using System.Runtime.CompilerServices; using System.Runtime.InteropServices; unsafe { - //var v = NativeMethods.csbindgen_LZ4_versionString(); + //var v = NativeMethods(); + var s = LibLz4.csbindgen_LZ4_versionString(); + var ss = new string((sbyte*)s); + Console.WriteLine(ss); //var bytes = new byte[] { 1, 10, 100, 100, 100, 100, 100, 100 }; //var dest = new byte[100]; diff --git a/dotnet-sandbox/bullet3_bindgen.cs b/dotnet-sandbox/bullet3_bindgen.cs deleted file mode 100644 index a4d435d..0000000 --- a/dotnet-sandbox/bullet3_bindgen.cs +++ /dev/null @@ -1,1813 +0,0 @@ -// -// This code is generated via csbindgen. -// DON'T CHANGE THIS DIRECTLY. -// -using System; -using System.Runtime.InteropServices; - -namespace CsBindgen -{ - public static unsafe partial class LibBullet3 - { - const string __DllName = "libbullet3"; - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3PhysicsClientHandle__* b3ConnectSharedMemory(int key); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3PhysicsClientHandle__* b3ConnectSharedMemory2(int key); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3PhysicsClientHandle__* b3ConnectPhysicsDirect(); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3DisconnectSharedMemory(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CanSubmitCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryStatusHandle__* b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3SubmitClientCommand(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryStatusHandle__* b3ProcessServerStatus(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusType(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreateCustomCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle__* commandHandle, byte* pluginPath); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CustomCommandLoadPluginSetPostFix(b3SharedMemoryCommandHandle__* commandHandle, byte* postFix); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusPluginCommandReturnData(b3PhysicsClientHandle__* physClient, b3UserDataValue* valueOut); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle__* commandHandle, int pluginUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle__* commandHandle, int pluginUniqueId, byte* textArguments); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle__* commandHandle, int intVal); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CustomCommandExecuteAddFloatArgument(b3SharedMemoryCommandHandle__* commandHandle, float floatVal); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle__* statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusActualState(b3SharedMemoryStatusHandle__* statusHandle, int* bodyUniqueId, int* numDegreeOfFreedomQ, int* numDegreeOfFreedomU, double** rootLocalInertialFrame, double** actualStateQ, double** actualStateQdot, double** jointReactionForces); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - 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); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3RequestCollisionInfoCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusAABB(b3SharedMemoryStatusHandle__* statusHandle, int linkIndex, double* aabbMin, double* aabbMax); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitSyncBodyInfoCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRequestBodyInfoCommand(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRemoveBodyCommand(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetNumBodies(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetBodyUniqueId(b3PhysicsClientHandle__* physClient, int serialIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetBodyInfo(b3PhysicsClientHandle__* physClient, int bodyUniqueId, b3BodyInfo* info); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetNumJoints(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetNumDofs(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ComputeDofCount(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetJointInfo(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int jointIndex, b3JointInfo* info); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitSyncUserDataCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3AddBodyToSyncUserDataRequest(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitAddUserDataCommand(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, byte* key, int valueType, int valueLength, void* valueData); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRemoveUserDataCommand(b3PhysicsClientHandle__* physClient, int userDataId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetUserData(b3PhysicsClientHandle__* physClient, int userDataId, b3UserDataValue* valueOut); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetUserDataId(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, byte* key); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetUserDataIdFromStatus(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetNumUserData(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetUserDataInfo(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int userDataIndex, byte** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3GetDynamicsInfoCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetDynamicsInfo(b3SharedMemoryStatusHandle__* statusHandle, b3DynamicsInfo* info); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitChangeDynamicsInfo(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitChangeDynamicsInfo2(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double mass); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double* localInertiaDiagonal); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetAnisotropicFriction(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double* anisotropicFriction); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetJointLimit(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double jointLowerLimit, double jointUpperLimit); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double jointLimitForce); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, int dynamicType); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetSleepThreshold(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double sleepThreshold); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double friction); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double friction); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double restitution); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double linearDamping); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double angularDamping); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetJointDamping(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double jointDamping); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double contactStiffness, double contactDamping); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, int frictionAnchor); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double ccdSweptSphereRadius); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkIndex, double contactProcessingThreshold); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int activationState); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetMaxJointVelocity(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double maxJointVelocity); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3ChangeDynamicsInfoSetCollisionMargin(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, double collisionMargin); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitCreateUserConstraintCommand(b3PhysicsClientHandle__* physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, b3JointInfo* info); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitCreateUserConstraintCommand2(b3SharedMemoryCommandHandle__* commandHandle, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, b3JointInfo* info); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitChangeUserConstraintCommand(b3PhysicsClientHandle__* physClient, int userConstraintUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle__* commandHandle, double* jointChildPivot); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle__* commandHandle, double* jointChildFrameOrn); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle__* commandHandle, double maxAppliedForce); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle__* commandHandle, double gearRatio); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle__* commandHandle, int gearAuxLink); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3InitChangeUserConstraintSetRelativePositionTarget(b3SharedMemoryCommandHandle__* commandHandle, double relativePositionTarget); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3InitChangeUserConstraintSetERP(b3SharedMemoryCommandHandle__* commandHandle, double erp); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle__* physClient, int userConstraintUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetNumUserConstraints(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitGetUserConstraintStateCommand(b3PhysicsClientHandle__* physClient, int constraintUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusUserConstraintState(b3SharedMemoryStatusHandle__* statusHandle, b3UserConstraintState* constraintState); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetUserConstraintInfo(b3PhysicsClientHandle__* physClient, int constraintUniqueId, b3UserConstraint* info); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetUserConstraintId(b3PhysicsClientHandle__* physClient, int serialIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRequestDebugLinesCommand(b3PhysicsClientHandle__* physClient, int debugMode); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetDebugLines(b3PhysicsClientHandle__* physClient, b3DebugLines* lines); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitConfigureOpenGLVisualizer2(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle__* commandHandle, int flag, int enabled); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle__* commandHandle, float* lightPosition); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle__* commandHandle, int shadowMapResolution); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ConfigureOpenGLVisualizerSetShadowMapIntensity(b3SharedMemoryCommandHandle__* commandHandle, double shadowMapIntensity); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ConfigureOpenGLVisualizerSetLightRgbBackground(b3SharedMemoryCommandHandle__* commandHandle, float* rgbBackground); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle__* commandHandle, int shadowMapWorldSize); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle__* commandHandle, double remoteSyncTransformInterval); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle__* commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, float* cameraTargetPosition); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle__* statusHandle, b3OpenGLVisualizerCameraInfo* camera); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle__* physClient, double* fromXYZ, double* toXYZ, double* colorRGB, double lineWidth, double lifeTime); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawAddPoints3D(b3PhysicsClientHandle__* physClient, double* positionsXYZ, double* colorsRGB, double pointSize, double lifeTime, int pointNum); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle__* physClient, byte* txt, double* positionXYZ, double* colorRGB, double textSize, double lifeTime); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle__* commandHandle, int optionFlags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle__* commandHandle, double* orientation); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3UserDebugItemSetReplaceItemUniqueId(b3SharedMemoryCommandHandle__* commandHandle, int replaceItem); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId, int linkIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugAddParameter(b3PhysicsClientHandle__* physClient, byte* txt, double rangeMin, double rangeMax, double startValue); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugReadParameter(b3PhysicsClientHandle__* physClient, int debugItemUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusDebugParameterValue(b3SharedMemoryStatusHandle__* statusHandle, double* paramValue); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawRemove(b3PhysicsClientHandle__* physClient, int debugItemUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUserRemoveAllParameters(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitDebugDrawingCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetDebugObjectColor(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId, int linkIndex, double* objectColorRGB); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId, int linkIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRequestCameraImage(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRequestCameraImage2(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle__* commandHandle, float* viewMatrix, float* projectionMatrix); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle__* commandHandle, int width, int height); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle__* commandHandle, float* lightDirection); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle__* commandHandle, float* lightColor); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle__* commandHandle, float lightDistance); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetLightAmbientCoeff(b3SharedMemoryCommandHandle__* commandHandle, float lightAmbientCoeff); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetLightDiffuseCoeff(b3SharedMemoryCommandHandle__* commandHandle, float lightDiffuseCoeff); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetLightSpecularCoeff(b3SharedMemoryCommandHandle__* commandHandle, float lightSpecularCoeff); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle__* commandHandle, int hasShadow); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle__* commandHandle, int renderer); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetCameraImageData(b3PhysicsClientHandle__* physClient, b3CameraImageData* imageData); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetProjectiveTextureMatrices(b3SharedMemoryCommandHandle__* commandHandle, float* viewMatrix, float* projectionMatrix); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ComputeViewMatrixFromPositions(float* cameraPosition, float* cameraTargetPosition, float* cameraUp, float* viewMatrix); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ComputeViewMatrixFromYawPitchRoll(float* cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis, float* viewMatrix); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ComputePositionFromViewMatrix(float* viewMatrix, float* cameraPosition, float* cameraTargetPosition, float* cameraUp); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float* projectionMatrix); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, float* projectionMatrix); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle__* commandHandle, float* cameraPosition, float* cameraTargetPosition, float* cameraUp); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle__* commandHandle, float* cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle__* commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle__* commandHandle, float fov, float aspect, float nearVal, float farVal); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRequestContactPointInformation(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdA); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdB); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexA); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexB); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetContactPointInformation(b3PhysicsClientHandle__* physClient, b3ContactInformation* contactPointData); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitClosestDistanceQuery(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdA); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexA); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdB); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexB); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle__* commandHandle, double distance); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterCollisionShapeA(b3SharedMemoryCommandHandle__* commandHandle, int collisionShapeA); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterCollisionShapeB(b3SharedMemoryCommandHandle__* commandHandle, int collisionShapeB); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterCollisionShapePositionA(b3SharedMemoryCommandHandle__* commandHandle, double* collisionShapePositionA); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterCollisionShapePositionB(b3SharedMemoryCommandHandle__* commandHandle, double* collisionShapePositionB); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterCollisionShapeOrientationA(b3SharedMemoryCommandHandle__* commandHandle, double* collisionShapeOrientationA); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetClosestDistanceFilterCollisionShapeOrientationB(b3SharedMemoryCommandHandle__* commandHandle, double* collisionShapeOrientationB); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetClosestPointInformation(b3PhysicsClientHandle__* physClient, b3ContactInformation* contactPointInfo); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitAABBOverlapQuery(b3PhysicsClientHandle__* physClient, double* aabbMin, double* aabbMax); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetAABBOverlapResults(b3PhysicsClientHandle__* physClient, b3AABBOverlapData* data); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRequestVisualShapeInformation(b3PhysicsClientHandle__* physClient, int bodyUniqueIdA); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetVisualShapeInformation(b3PhysicsClientHandle__* physClient, b3VisualShapeInformation* visualShapeInfo); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRequestCollisionShapeInformation(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetCollisionShapeInformation(b3PhysicsClientHandle__* physClient, b3CollisionShapeInformation* collisionShapeInfo); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitLoadTexture(b3PhysicsClientHandle__* physClient, byte* filename); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreateChangeTextureCommandInit(b3PhysicsClientHandle__* physClient, int textureUniqueId, int width, int height, byte* rgbPixels); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUpdateVisualShape(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitUpdateVisualShape2(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int jointIndex, int shapeIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3UpdateVisualShapeTexture(b3SharedMemoryCommandHandle__* commandHandle, int textureUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle__* commandHandle, double* rgbaColor); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3UpdateVisualShapeFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle__* commandHandle, double* specularColor); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitPhysicsParamCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitPhysicsParamCommand2(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle__* commandHandle, double gravx, double gravy, double gravz); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle__* commandHandle, double timeStep); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle__* commandHandle, double defaultContactERP); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle__* commandHandle, double defaultNonContactERP); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle__* commandHandle, double frictionERP); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetDefaultGlobalCFM(b3SharedMemoryCommandHandle__* commandHandle, double defaultGlobalCFM); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandle__* commandHandle, double frictionCFM); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle__* commandHandle, int numSubSteps); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle__* commandHandle, int enableRealTimeSimulation); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle__* commandHandle, int numSolverIterations); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetNumNonContactInnerIterations(b3SharedMemoryCommandHandle__* commandHandle, int numMotorIterations); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle__* commandHandle, double warmStartingFactor); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle__* commandHandle, double warmStartingFactor); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle__* commandHandle, int filterMode); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle__* commandHandle, int useSplitImpulse); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle__* commandHandle, double splitImpulsePenetrationThreshold); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle__* commandHandle, double contactBreakingThreshold); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle__* commandHandle, int maxNumCmdPer1ms); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle__* commandHandle, int enableFileCaching); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle__* commandHandle, double restitutionVelocityThreshold); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle__* commandHandle, int enableConeFriction); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParameterSetDeterministicOverlappingPairs(b3SharedMemoryCommandHandle__* commandHandle, int deterministicOverlappingPairs); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryCommandHandle__* commandHandle, double allowedCcdPenetration); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParameterSetJointFeedbackMode(b3SharedMemoryCommandHandle__* commandHandle, int jointFeedbackMode); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle__* commandHandle, double solverResidualThreshold); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetContactSlop(b3SharedMemoryCommandHandle__* commandHandle, double contactSlop); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParameterSetEnableSAT(b3SharedMemoryCommandHandle__* commandHandle, int enableSAT); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle__* commandHandle, int constraintSolverType); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParameterSetMinimumSolverIslandSize(b3SharedMemoryCommandHandle__* commandHandle, int minimumSolverIslandSize); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetSolverAnalytics(b3SharedMemoryCommandHandle__* commandHandle, int reportSolverAnalytics); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParameterSetSparseSdfVoxelSize(b3SharedMemoryCommandHandle__* commandHandle, double sparseSdfVoxelSize); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusPhysicsSimulationParameters(b3SharedMemoryStatusHandle__* statusHandle, b3PhysicsSimulationParameters* @params); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitStepSimulationCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitPerformCollisionDetectionCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusForwardDynamicsAnalyticsData(b3SharedMemoryStatusHandle__* statusHandle, b3ForwardDynamicsAnalyticsArgs* analyticsData); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitResetSimulationCommand(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3LoadUrdfCommandInit(b3PhysicsClientHandle__* physClient, byte* urdfFileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3LoadUrdfCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, byte* urdfFileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle__* commandHandle, double startPosX, double startPosY, double startPosZ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle__* commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle__* commandHandle, int useMultiBody); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle__* commandHandle, int useFixedBase); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle__* commandHandle, double globalScaling); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3SaveStateCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRemoveStateCommand(b3PhysicsClientHandle__* physClient, int stateId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusGetStateId(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3LoadStateCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadStateSetStateId(b3SharedMemoryCommandHandle__* commandHandle, int stateId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadStateSetFileName(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3LoadBulletCommandInit(b3PhysicsClientHandle__* physClient, byte* fileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3SaveBulletCommandInit(b3PhysicsClientHandle__* physClient, byte* fileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3LoadMJCFCommandInit(b3PhysicsClientHandle__* physClient, byte* fileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3LoadMJCFCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle__* commandHandle, int useMultiBody); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, double* jointPositionsQ, double* jointVelocitiesQdot, double* jointAccelerations); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CalculateInverseDynamicsCommandInit2(b3PhysicsClientHandle__* physClient, int bodyUniqueId, double* jointPositionsQ, int dofCountQ, double* jointVelocitiesQdot, double* jointAccelerations, int dofCountQdot); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseDynamicsSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle__* statusHandle, int* bodyUniqueId, int* dofCount, double* jointForces); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CalculateJacobianCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex, double* localPosition, double* jointPositionsQ, double* jointVelocitiesQdot, double* jointAccelerations); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusJacobian(b3SharedMemoryStatusHandle__* statusHandle, int* dofCount, double* linearJacobian, double* angularJacobian); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CalculateMassMatrixCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, double* jointPositionsQ, int dofCountQ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateMassMatrixSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusMassMatrix(b3PhysicsClientHandle__* physClient, b3SharedMemoryStatusHandle__* statusHandle, int* dofCount, double* massMatrix); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle__* commandHandle, int endEffectorLinkIndex, double* targetPosition); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsAddTargetsPurePosition(b3SharedMemoryCommandHandle__* commandHandle, int numEndEffectorLinkIndices, int* endEffectorIndices, double* targetPositions); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle__* commandHandle, int endEffectorLinkIndex, double* targetPosition, double* targetOrientation); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle__* commandHandle, int numDof, int endEffectorLinkIndex, double* targetPosition, double* lowerLimit, double* upperLimit, double* jointRange, double* restPose); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle__* commandHandle, int numDof, int endEffectorLinkIndex, double* targetPosition, double* targetOrientation, double* lowerLimit, double* upperLimit, double* jointRange, double* restPose); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle__* commandHandle, int numDof, double* jointDampingCoeff); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsSelectSolver(b3SharedMemoryCommandHandle__* commandHandle, int solver); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle__* statusHandle, int* bodyUniqueId, int* dofCount, double* jointPositions); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsSetCurrentPositions(b3SharedMemoryCommandHandle__* commandHandle, int numDof, double* currentJointPositions); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsSetMaxNumIterations(b3SharedMemoryCommandHandle__* commandHandle, int maxNumIterations); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateInverseKinematicsSetResidualThreshold(b3SharedMemoryCommandHandle__* commandHandle, double residualThreshold); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CollisionFilterCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetCollisionFilterPair(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdA, int bodyUniqueIdB, int linkIndexA, int linkIndexB, int enableCollision); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetCollisionFilterGroupMask(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueIdA, int linkIndexA, int collisionFilterGroup, int collisionFilterMask); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3LoadSdfCommandInit(b3PhysicsClientHandle__* physClient, byte* sdfFileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3LoadSdfCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, byte* sdfFileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle__* commandHandle, int useMultiBody); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSdfCommandSetUseGlobalScaling(b3SharedMemoryCommandHandle__* commandHandle, double globalScaling); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3SaveWorldCommandInit(b3PhysicsClientHandle__* physClient, byte* sdfFileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3JointControlCommandInit(b3PhysicsClientHandle__* physClient, int controlMode); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3JointControlCommandInit2(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int controlMode); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3JointControlCommandInit2Internal(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int controlMode); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle__* commandHandle, int qIndex, double value); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetDesiredPositionMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int qIndex, double* position, int dofCount); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetKp(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetKpMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* kps, int dofCount); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetKd(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetKdMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* kds, int dofCount); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double maximumVelocity); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetDesiredVelocityMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* velocity, int dofCount); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetDesiredVelocityMultiDof2(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* velocity, int dofCount); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* forces, int dofCount); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetDamping(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetDampingMultiDof(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double* damping, int dofCount); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle__* commandHandle, int dofIndex, double value); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle__* commandHandle, double radius); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle__* commandHandle, double* halfExtents); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle__* commandHandle, double radius, double height); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle__* commandHandle, double radius, double height); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName, double* meshScale, double textureScaling); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* meshScale, double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns, int replaceHeightfieldIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle__* commandHandle, double* planeNormal, double planeConstant); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName, double* meshScale); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddConvexMesh(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* meshScale, double* vertices, int numVertices); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateCollisionShapeAddConcaveMesh(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* meshScale, double* vertices, int numVertices, int* indices, int numIndices); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, double* childPosition, double* childOrientation); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle__* physClient, int collisionShapeId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3GetMeshDataCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int linkIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3GetTetraMeshDataCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetMeshDataSimulationMesh(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3MeshDataSimulationMeshVelocity(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetMeshDataSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetTetraMeshDataSetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetMeshData(b3PhysicsClientHandle__* physClient, b3MeshData* meshData); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetTetraMeshData(b3PhysicsClientHandle__* physClient, b3TetraMeshData* meshData); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3ResetMeshDataCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId, int num_vertices, double* vertices); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreateVisualShapeCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle__* commandHandle, double radius); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle__* commandHandle, double* halfExtents); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateVisualShapeAddCapsule(b3SharedMemoryCommandHandle__* commandHandle, double radius, double height); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle__* commandHandle, double radius, double height); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle__* commandHandle, double* planeNormal, double planeConstant); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle__* commandHandle, byte* fileName, double* meshScale); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - 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); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, double* childPosition, double* childOrientation); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, double* specularColor); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle__* commandHandle, int shapeIndex, double* rgbaColor); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreateMultiBodyCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle__* commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double* basePosition, double* baseOrientation, double* baseInertialFramePosition, double* baseInertialFrameOrientation); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - 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); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateMultiBodySetBatchPositions(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* batchPositions, int numBatchObjects); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CreateMultiBodySetFlags(b3SharedMemoryCommandHandle__* commandHandle, int flags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreateBoxShapeCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle__* commandHandle, double startPosX, double startPosY, double startPosZ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle__* commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle__* commandHandle, double halfExtentsX, double halfExtentsY, double halfExtentsZ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle__* commandHandle, double mass); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle__* commandHandle, int collisionShapeType); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle__* commandHandle, double red, double green, double blue, double alpha); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreatePoseCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreatePoseCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle__* commandHandle, double startPosX, double startPosY, double startPosZ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle__* commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle__* commandHandle, double* linVel); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle__* commandHandle, double* angVel); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetBaseScaling(b3SharedMemoryCommandHandle__* commandHandle, double* scaling); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle__* commandHandle, int numJointPositions, double* jointPositions); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, double jointPosition); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetJointPositionMultiDof(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, double* jointPosition, int posSize); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetQ(b3SharedMemoryCommandHandle__* commandHandle, int numJointPositions, double* q, int* hasQ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetQdots(b3SharedMemoryCommandHandle__* commandHandle, int numJointVelocities, double* qDots, int* hasQdots); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetJointVelocities(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int numJointVelocities, double* jointVelocities); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetJointVelocity(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, double jointVelocity); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreatePoseCommandSetJointVelocityMultiDof(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, double* jointVelocity, int velSize); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreateSensorCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle__* commandHandle, int jointIndex, int enable); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle__* commandHandle, int linkIndex, int enable); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3RequestActualStateCommandInit(b3PhysicsClientHandle__* physClient, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3RequestActualStateCommandInit2(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle__* commandHandle, int computeLinkVelocity); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3RequestActualStateCommandComputeForwardKinematics(b3SharedMemoryCommandHandle__* commandHandle, int computeForwardKinematics); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetJointState(b3PhysicsClientHandle__* physClient, b3SharedMemoryStatusHandle__* statusHandle, int jointIndex, b3JointSensorState* state); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetJointStateMultiDof(b3PhysicsClientHandle__* physClient, b3SharedMemoryStatusHandle__* statusHandle, int jointIndex, b3JointSensorState2* state); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetLinkState(b3PhysicsClientHandle__* physClient, b3SharedMemoryStatusHandle__* statusHandle, int linkIndex, b3LinkState* state); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3PickBody(b3PhysicsClientHandle__* physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3MovePickedBody(b3PhysicsClientHandle__* physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3RemovePickingConstraint(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreateRaycastCommandInit(b3PhysicsClientHandle__* physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3CreateRaycastBatchCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RaycastBatchSetNumThreads(b3SharedMemoryCommandHandle__* commandHandle, int numThreads); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle__* commandHandle, double* rayFromWorld, double* rayToWorld); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RaycastBatchAddRays(b3PhysicsClientHandle__* physClient, b3SharedMemoryCommandHandle__* commandHandle, double* rayFromWorld, double* rayToWorld, int numRays); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RaycastBatchSetParentObject(b3SharedMemoryCommandHandle__* commandHandle, int parentObjectUniqueId, int parentLinkIndex); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RaycastBatchSetReportHitNumber(b3SharedMemoryCommandHandle__* commandHandle, int reportHitNumber); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RaycastBatchSetCollisionFilterMask(b3SharedMemoryCommandHandle__* commandHandle, int collisionFilterMask); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RaycastBatchSetFractionEpsilon(b3SharedMemoryCommandHandle__* commandHandle, double fractionEpsilon); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetRaycastInformation(b3PhysicsClientHandle__* physClient, b3RaycastInformation* raycastInfo); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3ApplyExternalForceCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ApplyExternalForce(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkId, double* force, double* position, int flag); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3ApplyExternalTorque(b3SharedMemoryCommandHandle__* commandHandle, int bodyUniqueId, int linkId, double* torque, int flag); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3LoadSoftBodyCommandInit(b3PhysicsClientHandle__* physClient, byte* fileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle__* commandHandle, double scale); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle__* commandHandle, double mass); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle__* commandHandle, double collisionMargin); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle__* commandHandle, double startPosX, double startPosY, double startPosZ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle__* commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle__* commandHandle, byte* filename); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle__* commandHandle, double corotatedMu, double corotatedLambda); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle__* commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle__* commandHandle, double springElasticStiffness, double springDampingStiffness); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle__* commandHandle, double gravityX, double gravityY, double gravityZ); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle__* commandHandle, double collisionHardness); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle__* commandHandle, int useSelfCollision); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodySetRepulsionStiffness(b3SharedMemoryCommandHandle__* commandHandle, double stiffness); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle__* commandHandle, int useFaceContact); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle__* commandHandle, double frictionCoefficient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle__* commandHandle, int useBendingSprings, double bendingStiffness); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3LoadSoftBodyUseAllDirectionDampingSprings(b3SharedMemoryCommandHandle__* commandHandle, int useAllDirectionDamping); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle__* physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, double* bodyFramePosition); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3RequestVREventsCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle__* commandHandle, int deviceTypeFilter); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetVREventsData(b3PhysicsClientHandle__* physClient, b3VREventsData* vrEventsData); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3SetVRCameraStateCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle__* commandHandle, double* rootPos); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle__* commandHandle, double* rootOrn); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle__* commandHandle, int flag); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3RequestKeyboardEventsCommandInit2(b3SharedMemoryCommandHandle__* commandHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetKeyboardEventsData(b3PhysicsClientHandle__* physClient, b3KeyboardEventsData* keyboardEventsData); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3RequestMouseEventsCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetMouseEventsData(b3PhysicsClientHandle__* physClient, b3MouseEventsData* mouseEventsData); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3StateLoggingCommandInit(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingStart(b3SharedMemoryCommandHandle__* commandHandle, int loggingType, byte* fileName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle__* commandHandle, int objectUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle__* commandHandle, int maxLogDof); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingSetLinkIndexA(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexA); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle__* commandHandle, int linkIndexB); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle__* commandHandle, int bodyAUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle__* commandHandle, int bodyBUniqueId); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle__* commandHandle, int deviceTypeFilter); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingSetLogFlags(b3SharedMemoryCommandHandle__* commandHandle, int logFlags); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle__* statusHandle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int b3StateLoggingStop(b3SharedMemoryCommandHandle__* commandHandle, int loggingUid); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3ProfileTimingCommandInit(b3PhysicsClientHandle__* physClient, byte* name); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle__* commandHandle, int duration); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetProfileTimingType(b3SharedMemoryCommandHandle__* commandHandle, int type_); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3PushProfileTiming(b3PhysicsClientHandle__* physClient, byte* timingName); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3PopProfileTiming(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3SetTimeOut(b3PhysicsClientHandle__* physClient, double timeOutInSeconds); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern double b3GetTimeOut(b3PhysicsClientHandle__* physClient); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern b3SharedMemoryCommandHandle__* b3SetAdditionalSearchPath(b3PhysicsClientHandle__* physClient, byte* path); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3MultiplyTransforms(double* posA, double* ornA, double* posB, double* ornB, double* outPos, double* outOrn); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3InvertTransform(double* pos, double* orn, double* outPos, double* outOrn); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3QuaternionSlerp(double* startQuat, double* endQuat, double interpolationFraction, double* outOrn); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetQuaternionFromAxisAngle(double* axis, double angle, double* outQuat); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetAxisAngleFromQuaternion(double* quat, double* axis, double* angle); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetQuaternionDifference(double* startQuat, double* endQuat, double* outOrn); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3GetAxisDifferenceQuaternion(double* startQuat, double* endQuat, double* axisOut); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3CalculateVelocityQuaternion(double* startQuat, double* endQuat, double deltaTime, double* angVelOut); - - [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void b3RotateVector(double* quat, double* vec, double* vecOut); - - - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3UserDataValue - { - public int m_type; - public int m_length; - public byte* m_data1; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3BodyInfo - { - public fixed byte m_baseName[1024]; - public fixed byte m_bodyName[1024]; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3JointSensorState - { - public double m_jointPosition; - public double m_jointVelocity; - public fixed double m_jointForceTorque[6]; - public double m_jointMotorTorque; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3DebugLines - { - public int m_numDebugLines; - public float* m_linesFrom; - public float* m_linesTo; - public float* m_linesColor; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3OverlappingObject - { - public int m_objectUniqueId; - public int m_linkIndex; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3AABBOverlapData - { - public int m_numOverlappingObjects; - public b3OverlappingObject* m_overlappingObjects; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3MeshVertex - { - public double x; - public double y; - public double z; - public double w; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3MeshData - { - public int m_numVertices; - public b3MeshVertex* m_vertices; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3TetraMeshData - { - public int m_numVertices; - public b3MeshVertex* m_vertices; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3UserConstraintState - { - public fixed double m_appliedConstraintForces[6]; - public int m_numDofs; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3VREventsData - { - public int m_numControllerEvents; - public b3VRControllerEvent* m_controllerEvents; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3KeyboardEvent - { - public int m_keyCode; - public int m_keyState; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3KeyboardEventsData - { - public int m_numKeyboardEvents; - public b3KeyboardEvent* m_keyboardEvents; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3MouseEventsData - { - public int m_numMouseEvents; - public b3MouseEvent* m_mouseEvents; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3BodyNotificationArgs - { - public int m_bodyUniqueId; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3UserDataNotificationArgs - { - public int m_bodyUniqueId; - public int m_linkIndex; - public int m_visualShapeIndex; - public int m_userDataId; - public fixed byte m_key[256]; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3LinkNotificationArgs - { - public int m_bodyUniqueId; - public int m_linkIndex; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3VisualShapeNotificationArgs - { - public int m_bodyUniqueId; - public int m_linkIndex; - public int m_visualShapeIndex; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3TransformChangeNotificationArgs - { - public int m_bodyUniqueId; - public int m_linkIndex; - public fixed double m_worldPosition[3]; - public fixed double m_worldRotation[4]; - public fixed double m_localScaling[3]; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3SoftBodyChangeNotificationArgs - { - public int m_bodyUniqueId; - public int m_linkIndex; - } - - [StructLayout(LayoutKind.Explicit)] - public unsafe struct b3Notification__bindgen_ty_1 - { - [FieldOffset(0)] - public b3BodyNotificationArgs m_bodyArgs; - [FieldOffset(0)] - public b3UserDataNotificationArgs m_userDataArgs; - [FieldOffset(0)] - public b3LinkNotificationArgs m_linkArgs; - [FieldOffset(0)] - public b3VisualShapeNotificationArgs m_visualShapeArgs; - [FieldOffset(0)] - public b3TransformChangeNotificationArgs m_transformChangeArgs; - [FieldOffset(0)] - public b3SoftBodyChangeNotificationArgs m_softBodyChangeArgs; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3ContactInformation - { - public int m_numContactPoints; - public b3ContactPointData* m_contactPointData; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3RayData - { - public fixed double m_rayFromPosition[3]; - public fixed double m_rayToPosition[3]; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3RaycastInformation - { - public int m_numRayHits; - public b3RayHitInfo* m_rayHits; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3VisualShapeInformation - { - public int m_numVisualShapes; - public b3VisualShapeData* m_visualShapeData; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe struct b3CollisionShapeInformation - { - public int m_numCollisionShapes; - public b3CollisionShapeData* m_collisionShapeData; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe 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)] - public unsafe 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)] - public unsafe 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)] - public unsafe 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]; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3PhysicsClientHandle__ - { - public int unused; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3SharedMemoryCommandHandle__ - { - public int unused; - } - - [StructLayout(LayoutKind.Sequential)] - public unsafe struct b3SharedMemoryStatusHandle__ - { - public int unused; - } - - -} - \ No newline at end of file diff --git a/dotnet-sandbox/lz4_bindgen.cs b/dotnet-sandbox/lz4_bindgen.cs index 12f6466..4f74d48 100644 --- a/dotnet-sandbox/lz4_bindgen.cs +++ b/dotnet-sandbox/lz4_bindgen.cs @@ -9,133 +9,133 @@ namespace CsBindgen { public static unsafe partial class LibLz4 { - const string __DllName = "liblz4"; + const string __DllName = "csbindgen_tests"; [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_versionNumber(); + public static extern int csbindgen_LZ4_versionNumber(); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern byte* LZ4_versionString(); + public static extern byte* csbindgen_LZ4_versionString(); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_default(byte* src, byte* dst, int srcSize, int dstCapacity); + public static extern int csbindgen_LZ4_compress_default(byte* src, byte* dst, int srcSize, int dstCapacity); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_safe(byte* src, byte* dst, int compressedSize, int dstCapacity); + public static extern int csbindgen_LZ4_decompress_safe(byte* src, byte* dst, int compressedSize, int dstCapacity); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compressBound(int inputSize); + public static extern int csbindgen_LZ4_compressBound(int inputSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_fast(byte* src, byte* dst, int srcSize, int dstCapacity, int acceleration); + public static extern int csbindgen_LZ4_compress_fast(byte* src, byte* dst, int srcSize, int dstCapacity, int acceleration); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_sizeofState(); + public static extern int csbindgen_LZ4_sizeofState(); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_fast_extState(void* state, byte* src, byte* dst, int srcSize, int dstCapacity, int acceleration); + public static extern int csbindgen_LZ4_compress_fast_extState(void* state, byte* src, byte* dst, int srcSize, int dstCapacity, int acceleration); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_destSize(byte* src, byte* dst, int* srcSizePtr, int targetDstSize); + public static extern int csbindgen_LZ4_compress_destSize(byte* src, byte* dst, int* srcSizePtr, int targetDstSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_safe_partial(byte* src, byte* dst, int srcSize, int targetOutputSize, int dstCapacity); + public static extern int csbindgen_LZ4_decompress_safe_partial(byte* src, byte* dst, int srcSize, int targetOutputSize, int dstCapacity); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern LZ4_stream_u* LZ4_createStream(); + public static extern LZ4_stream_u* csbindgen_LZ4_createStream(); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_freeStream(LZ4_stream_u* streamPtr); + public static extern int csbindgen_LZ4_freeStream(LZ4_stream_u* streamPtr); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void LZ4_resetStream_fast(LZ4_stream_u* streamPtr); + public static extern void csbindgen_LZ4_resetStream_fast(LZ4_stream_u* streamPtr); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_loadDict(LZ4_stream_u* streamPtr, byte* dictionary, int dictSize); + public static extern int csbindgen_LZ4_loadDict(LZ4_stream_u* streamPtr, byte* dictionary, int dictSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_fast_continue(LZ4_stream_u* streamPtr, byte* src, byte* dst, int srcSize, int dstCapacity, int acceleration); + public static extern int csbindgen_LZ4_compress_fast_continue(LZ4_stream_u* streamPtr, byte* src, byte* dst, int srcSize, int dstCapacity, int acceleration); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_saveDict(LZ4_stream_u* streamPtr, byte* safeBuffer, int maxDictSize); + public static extern int csbindgen_LZ4_saveDict(LZ4_stream_u* streamPtr, byte* safeBuffer, int maxDictSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern LZ4_streamDecode_u* LZ4_createStreamDecode(); + public static extern LZ4_streamDecode_u* csbindgen_LZ4_createStreamDecode(); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_freeStreamDecode(LZ4_streamDecode_u* LZ4_stream); + public static extern int csbindgen_LZ4_freeStreamDecode(LZ4_streamDecode_u* LZ4_stream); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_setStreamDecode(LZ4_streamDecode_u* LZ4_streamDecode, byte* dictionary, int dictSize); + public static extern int csbindgen_LZ4_setStreamDecode(LZ4_streamDecode_u* LZ4_streamDecode, byte* dictionary, int dictSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decoderRingBufferSize(int maxBlockSize); + public static extern int csbindgen_LZ4_decoderRingBufferSize(int maxBlockSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_safe_continue(LZ4_streamDecode_u* LZ4_streamDecode, byte* src, byte* dst, int srcSize, int dstCapacity); + public static extern int csbindgen_LZ4_decompress_safe_continue(LZ4_streamDecode_u* LZ4_streamDecode, byte* src, byte* dst, int srcSize, int dstCapacity); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_safe_usingDict(byte* src, byte* dst, int srcSize, int dstCapacity, byte* dictStart, int dictSize); + public static extern int csbindgen_LZ4_decompress_safe_usingDict(byte* src, byte* dst, int srcSize, int dstCapacity, byte* dictStart, int dictSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_safe_partial_usingDict(byte* src, byte* dst, int compressedSize, int targetOutputSize, int maxOutputSize, byte* dictStart, int dictSize); + public static extern int csbindgen_LZ4_decompress_safe_partial_usingDict(byte* src, byte* dst, int compressedSize, int targetOutputSize, int maxOutputSize, byte* dictStart, int dictSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern LZ4_stream_u* LZ4_initStream(void* buffer, UIntPtr size); + public static extern LZ4_stream_u* csbindgen_LZ4_initStream(void* buffer, UIntPtr size); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress(byte* src, byte* dest, int srcSize); + public static extern int csbindgen_LZ4_compress(byte* src, byte* dest, int srcSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_limitedOutput(byte* src, byte* dest, int srcSize, int maxOutputSize); + public static extern int csbindgen_LZ4_compress_limitedOutput(byte* src, byte* dest, int srcSize, int maxOutputSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_withState(void* state, byte* source, byte* dest, int inputSize); + public static extern int csbindgen_LZ4_compress_withState(void* state, byte* source, byte* dest, int inputSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_limitedOutput_withState(void* state, byte* source, byte* dest, int inputSize, int maxOutputSize); + public static extern int csbindgen_LZ4_compress_limitedOutput_withState(void* state, byte* source, byte* dest, int inputSize, int maxOutputSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_continue(LZ4_stream_u* LZ4_streamPtr, byte* source, byte* dest, int inputSize); + public static extern int csbindgen_LZ4_compress_continue(LZ4_stream_u* LZ4_streamPtr, byte* source, byte* dest, int inputSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_compress_limitedOutput_continue(LZ4_stream_u* LZ4_streamPtr, byte* source, byte* dest, int inputSize, int maxOutputSize); + public static extern int csbindgen_LZ4_compress_limitedOutput_continue(LZ4_stream_u* LZ4_streamPtr, byte* source, byte* dest, int inputSize, int maxOutputSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_uncompress(byte* source, byte* dest, int outputSize); + public static extern int csbindgen_LZ4_uncompress(byte* source, byte* dest, int outputSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_uncompress_unknownOutputSize(byte* source, byte* dest, int isize_, int maxOutputSize); + public static extern int csbindgen_LZ4_uncompress_unknownOutputSize(byte* source, byte* dest, int isize_, int maxOutputSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void* LZ4_create(byte* inputBuffer); + public static extern void* csbindgen_LZ4_create(byte* inputBuffer); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_sizeofStreamState(); + public static extern int csbindgen_LZ4_sizeofStreamState(); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_resetStreamState(void* state, byte* inputBuffer); + public static extern int csbindgen_LZ4_resetStreamState(void* state, byte* inputBuffer); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern byte* LZ4_slideInputBuffer(void* state); + public static extern byte* csbindgen_LZ4_slideInputBuffer(void* state); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_safe_withPrefix64k(byte* src, byte* dst, int compressedSize, int maxDstSize); + public static extern int csbindgen_LZ4_decompress_safe_withPrefix64k(byte* src, byte* dst, int compressedSize, int maxDstSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_fast_withPrefix64k(byte* src, byte* dst, int originalSize); + public static extern int csbindgen_LZ4_decompress_fast_withPrefix64k(byte* src, byte* dst, int originalSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_fast(byte* src, byte* dst, int originalSize); + public static extern int csbindgen_LZ4_decompress_fast(byte* src, byte* dst, int originalSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_fast_continue(LZ4_streamDecode_u* LZ4_streamDecode, byte* src, byte* dst, int originalSize); + public static extern int csbindgen_LZ4_decompress_fast_continue(LZ4_streamDecode_u* LZ4_streamDecode, byte* src, byte* dst, int originalSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern int LZ4_decompress_fast_usingDict(byte* src, byte* dst, int originalSize, byte* dictStart, int dictSize); + public static extern int csbindgen_LZ4_decompress_fast_usingDict(byte* src, byte* dst, int originalSize, byte* dictStart, int dictSize); [DllImport(__DllName, CallingConvention = CallingConvention.Cdecl)] - public static extern void LZ4_resetStream(LZ4_stream_u* streamPtr); + public static extern void csbindgen_LZ4_resetStream(LZ4_stream_u* streamPtr); }