CoCalc -- Tao.Ode.xml

GitHub Repository: wisp/impinj-reader-app
Path: blob/master/Resources/taoframework-2.1.0/bin/Tao.Ode.xml
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<?xml version="1.0"?>
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<doc>
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    <assembly>
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        <name>Tao.Ode</name>
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    </assembly>
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    <members>
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        <member name="T:Tao.Ode.Ode">
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            <summary>
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                Open Dynamics Engine (ODE - http://ode.org) bindings for .NET
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            	ODE Version: 0.9
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            </summary>
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        </member>
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        <member name="F:Tao.Ode.Ode.ODE_NATIVE_LIBRARY">
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            <summary>
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            Specifies the ODE native library used in the bindings
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            </summary>
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            <remarks>
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            The Windows dll is specified here universally - note that
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            under Mono the non-windows native library can be mapped using
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            the ".config" file mechanism.  Kudos to the Mono team for this
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            simple yet elegant solution.
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            </remarks>
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        </member>
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        <member name="F:Tao.Ode.Ode.CALLING_CONVENTION">
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            <summary>
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                Specifies the calling convention used for the binding.
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            </summary>
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            <remarks>
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                Specifies <see cref="F:System.Runtime.InteropServices.CallingConvention.Cdecl"/>
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                for the bindings.
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            </remarks>
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        </member>
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        <member name="F:Tao.Ode.Ode.dInfinity">
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             <summary>
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             Infinity.
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             The maximum value of the current data type for dReal.
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             </summary>
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             <remarks>
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             dReal can be System.Single or System.Double, based on the
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             multiple precision levels possible with the ODE library.
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             </remarks>
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        </member>
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        <member name="F:Tao.Ode.Ode.dMaxUserClasses">
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            <summary>the maximum number of user classes that are supported</summary>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldCreate">
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             <summary>
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             Create a new, empty world and return its ID number.
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             </summary>
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             <remarks>
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             The world object is a container for rigid bodies and joints.
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             Objects in different worlds can not interact, for example rigid bodies from two different worlds can not collide.
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             All the objects in a world exist at the same point in time, thus one reason to use separate worlds is to simulate
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             systems at different rates.
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             Most applications will only need one world.
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             </remarks>
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             <returns>A dWorldID</returns>
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        </member>
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        <member name="M:Tao.Ode.Ode.dInitODE">
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            <summary>
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            </summary>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldDestroy(System.IntPtr)">
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            <summary>
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            Destroy a world and everything in it.
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            This includes all bodies, and all joints that are not part of a joint group.
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            Joints that are part of a joint group will be deactivated, and can be destroyed by calling, for example,
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            dJointGroupEmpty.
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            </summary>
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            <param name="world">A  dWorldID</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetGravity(System.IntPtr,System.Single,System.Single,System.Single)">
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            <summary>
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            Set the world's global gravity vector.
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            The units are m/s/s (meters/second/second), so Earth's gravity vector would
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            be (0,0,-9.81), assuming that +z is up.
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            The default is no gravity, i.e. (0,0,0).
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            </summary>
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            <param name="world">the world to set</param>
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            <param name="x">x component of the gravity vector</param>
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            <param name="y">y component of the gravity vector</param>
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            <param name="z">z component of the gravity vector</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetGravity(System.IntPtr,Tao.Ode.Ode.dVector3@)">
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            <summary>
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            Get the world's global gravity vector.
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            The units are m/s/s (meter/second/second).
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            </summary>
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            <param name="world">the world to query</param>
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            <param name="gravity">A dVector3 containing the world's gravity vector</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetGravity(System.IntPtr,System.Single@)">
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            <summary>
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            </summary>
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            <param name="world"></param>
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            <param name="X"></param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetERP(System.IntPtr,System.Single)">
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            <summary>
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            Set the global ERP (Error Reduction Parameter) value, which controls how much error
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            correction is performed in each time step.
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            Typical values are in the range 0.1--0.8. The default is 0.2.
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            </summary>
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            <param name="world">the world to set</param>
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            <param name="erp">the global ERP value in the range 0.1-0.8 (default 0.2)</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetERP(System.IntPtr)">
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            <summary>
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            Get the global ERP value, which controls how much error correction is performed in each time step.
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            Typical values are in the range 0.1--0.8. The default is 0.2.
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            </summary>
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            <returns>the ERP (Error Reduction Parameter) for the world. Range 0.1-0.8</returns>
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            <param name="world">the world to query</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetCFM(System.IntPtr,System.Single)">
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            <summary>
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            Set the global CFM (constraint force mixing) value.
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            Typical values are in the range 10^-9 -- 1.
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            The default is 10^-5 if single precision is being used, or 10^-10 if double precision is being used.
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            </summary>
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            <param name="world">the world to set</param>
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            <param name="cfm">the global CFM value to set.  Range 10^-9 to 1</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetCFM(System.IntPtr)">
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            <summary>
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            Get the global CFM (constraint force mixing) value.
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            Typical values are in the range 10^-9 -- 1.
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            The default is 10-5 if single precision is being used, or 10^-10 if double precision is being used.
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            </summary>
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            <returns>the current CFM value for the world in the range 10^-9 to 1</returns>
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            <param name="world">the world to query</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldImpulseToForce(System.IntPtr,System.Single,System.Single,System.Single,System.Single,Tao.Ode.Ode.dVector3@)">
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             <summary>
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             Convert linear/angular impulse to a rigid body to a force/torque vector.
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             If you want to apply a linear or angular impulse to a rigid body, instead of a force or a torque,
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             then you can use this function to convert the desired impulse into a force/torque vector before
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             calling the dBodyAdd... function.
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             This function is given the desired impulse as (ix,iy,iz) and puts the force vector in force.
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             The current algorithm simply scales the impulse by 1/stepsize, where stepsize is the step size for
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             the next step that will be taken.
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             </summary>
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             <remarks>
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             This function is given a dWorldID because, in the future, the force computation may depend on integrator
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             parameters that are set as properties of the world.
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             </remarks>
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             <param name="world">the id of the world</param>
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             <param name="stepsize">stepsize for the next step to be taken</param>
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             <param name="ix">x component of the impulse</param>
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             <param name="iy">y component of the impulse</param>
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             <param name="iz">z component of the impulse</param>
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             <param name="force">A  dVector3 containing the resulting force vector</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldImpulseToForce(System.IntPtr,System.Single,System.Single,System.Single,System.Single,System.Single@)">
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            <summary>
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            </summary>
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            <param name="world"></param>
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            <param name="stepsize"></param>
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            <param name="ix"></param>
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            <param name="iy"></param>
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            <param name="iz"></param>
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            <param name="forceX"></param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldStep(System.IntPtr,System.Single)">
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             <summary>
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             Step the world.
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             This uses a "big matrix" method that takes time on the order of m^3 and memory on the order of m^2,
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             where m is the total number of constraint rows.
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             For large systems this will use a lot of memory and can be very slow, but this is currently the
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             most accurate method.
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             </summary>
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             <param name="world">the world to step</param>
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             <param name="stepsize">the stepsize</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldQuickStep(System.IntPtr,System.Single)">
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             <summary>
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             Step the world.
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             This uses an iterative method that takes time on the order of m*N and memory on the order of m, where
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             m is the total number of constraint rows and N is the number of iterations.
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             For large systems this is a lot faster than dWorldStep, but it is less accurate.
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             </summary>
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             <remarks>
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             QuickStep is great for stacks of objects especially when the auto-disable feature is used as well.
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             However, it has poor accuracy for near-singular systems. Near-singular systems can occur when using
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             high-friction contacts, motors, or certain articulated structures.
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             For example, a robot with multiple legs sitting on the ground may be near-singular.
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             There are ways to help overcome QuickStep's inaccuracy problems:
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             	- 	Increase CFM.
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             	-	Reduce the number of contacts in your system (e.g. use the minimum number of contacts for
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                 	the feet of a robot or creature).
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            		-	Don't use excessive friction in the contacts.
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            		-	Use contact slip if appropriate
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            		-	Avoid kinematic loops (however, kinematic loops are inevitable in legged creatures).
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            		-	Don't use excessive motor strength.
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            		-	Use force-based motors instead of velocity-based motors.
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             Increasing the number of QuickStep iterations may help a little bit, but it is not going to help much
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             if your system is really near singular.
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             </remarks>
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             <param name="world">the world to step</param>
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             <param name="stepsize">the stepsize</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetQuickStepNumIterations(System.IntPtr,System.Int32)">
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             <summary>
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             Set the number of iterations that the QuickStep method performs per step.
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             More iterations will give a more accurate solution, but will take longer to compute.
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             The default is 20 iterations.
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             </summary>
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             <param name="world">the world to step</param>
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             <param name="num">the iterations per step (default 20)</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetQuickStepNumIterations(System.IntPtr)">
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             <summary>
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             Get the number of iterations that the QuickStep method performs per step.
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             The default is 20 iterations.
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             </summary>
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             <returns>the iterations per step (default 20)</returns>
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             <param name="world">the world to query</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetQuickStepW(System.IntPtr,System.Single)">
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            <summary>
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            Set the QuickStep SOR over-relaxation parameter
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            </summary>
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            <param name="world">the world to set</param>
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            <param name="over_relaxation">over_relaxation value to use by SOR</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetQuickStepW(System.IntPtr)">
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            <summary>
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            Get the QuickStep SOR over-relaxation parameter
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            </summary>
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            <returns>the world's over relaxation value</returns>
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            <param name="world">the world to query</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetContactMaxCorrectingVel(System.IntPtr,System.Single)">
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             <summary>
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             Set maximum correcting velocity that contacts are allowed to generate.
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             The default value is infinity (i.e. no limit).
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             Reducing this value can help prevent "popping" of deeply embedded objects.
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             </summary>
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             <param name="world">the world to set</param>
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             <param name="vel">the maximum correcting velocity contacts can generate (default is infinity - no limit)</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetContactMaxCorrectingVel(System.IntPtr)">
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             <summary>
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             Get the maximum correcting velocity that contacts are allowed to generate.
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             The default value is infinity (i.e. no limit).
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             </summary>
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             <returns>current maximum correcting velocity (default is infinity - no limit)</returns>
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             <param name="world">the world to query</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetContactSurfaceLayer(System.IntPtr,System.Single)">
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             <summary>
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             Set the depth of the surface layer around all geometry objects.
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             Contacts are allowed to sink into the surface layer up to the given depth before coming to rest.
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             The default value is zero.
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             Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts
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             being repeatedly made and broken.
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             </summary>
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             <param name="world">the world to set</param>
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             <param name="depth">the contact surface layer depth (default 0)</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetContactSurfaceLayer(System.IntPtr)">
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             <summary>
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             Get the depth of the surface layer around all geometry objects.
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             The default value is zero.
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             </summary>
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             <returns>the world's contact surface layer (default 0)</returns>
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             <param name="world">the world to query</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldStepFast1(System.IntPtr,System.Single,System.Int32)">
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             <summary>
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             Step the world by stepsize seconds using the StepFast1 algorithm.
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             The number of iterations to perform is given by maxiterations.
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             NOTE: The StepFast algorithm has been superseded by the QuickStep algorithm: see the dWorldQuickStep function.
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             </summary>
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             <param name="world">the world to set</param>
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             <param name="stepsize">the stepsize (in seconds)</param>
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             <param name="maxiterations">maximum iterations to perform</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetAutoEnableDepthSF1(System.IntPtr,System.Int32)">
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            <summary>
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            Set the AutoEnableDepth parameter used by the StepFast1 algorithm.
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            </summary>
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            <param name="world">the world to set</param>
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            <param name="autoEnableDepth">the autoenable depth</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetAutoEnableDepthSF1(System.IntPtr)">
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            <summary>
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            Get the AutoEnableDepth parameter used by the StepFast1 algorithm.
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            </summary>
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            <returns>the autoenable depth</returns>
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            <param name="world">the world to query</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetAutoDisableLinearThreshold(System.IntPtr,System.Single)">
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             <summary>
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             Set the default auto-disable linear threshold for newly created bodies.
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             The default parameter is:  AutoDisableLinearThreshold = 0.01
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             </summary>
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             <param name="world">A  dWorldID</param>
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             <param name="linear_threshold">A  dReal</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetAutoDisableLinearThreshold(System.IntPtr)">
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            <summary>
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            Get the current auto-disable linear threshold for newly created bodies.
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            </summary>
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            <returns>A dReal</returns>
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            <param name="world">A  dWorldID</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetAutoDisableAngularThreshold(System.IntPtr,System.Single)">
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             <summary>
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             Set the default auto-disable angular threshold for newly created bodies.
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             The default parameter is:  AutoDisableAngularThreshold = 0.01
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             </summary>
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             <param name="world">A  dWorldID</param>
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             <param name="angular_threshold">A  dReal</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetAutoDisableAngularThreshold(System.IntPtr)">
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            <summary>
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            Get the current auto-disable angular threshold for newly created objects
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            </summary>
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            <returns>A dReal</returns>
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            <param name="world">A  dWorldID</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetAutoDisableSteps(System.IntPtr,System.Int32)">
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             <summary>
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             Set the default auto-disable steps for newly created bodies.
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             The default parameter is:  AutoDisableSteps = 10
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             </summary>
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             <param name="world">A  dWorldID</param>
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             <param name="steps">the new auto-disable step setting</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetAutoDisableSteps(System.IntPtr)">
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            <summary>
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            Get the current auto-disable steps for newly created bodies
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            </summary>
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            <returns>number of current auto-disable steps</returns>
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            <param name="world">the world to query</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetAutoDisableTime(System.IntPtr,System.Single)">
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             <summary>
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             Set the default auto-disable time for newly created bodies.
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             The default parameter is:  AutoDisableTime = 0
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             </summary>
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             <param name="world">A  dWorldID</param>
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             <param name="time">A  dReal</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetAutoDisableTime(System.IntPtr)">
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            <summary>
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            Get the current auto-disable time for newly created bodies.
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            </summary>
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            <returns>A dReal</returns>
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            <param name="world">A  dWorldID</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldSetAutoDisableFlag(System.IntPtr,System.Int32)">
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             <summary>
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             Set the default auto-disable flag for newly created bodies.
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             The default parameter is:  AutoDisableFlag = disabled
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             </summary>
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             <param name="world">A  dWorldID</param>
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             <param name="do_auto_disable">An int</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dWorldGetAutoDisableFlag(System.IntPtr)">
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            <summary>
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            Get the current auto-disable flag for newly created bodies.
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            </summary>
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            <returns>An int</returns>
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            <param name="world">A  dWorldID</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dBodyCreate(System.IntPtr)">
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            <summary>
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            Create a body in the given world with default mass parameters at position (0,0,0).
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            Return its ID (really a handle to the body).
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            </summary>
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            <returns>A dBodyID</returns>
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            <param name="world">A  dWorldID</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dBodyDestroy(System.IntPtr)">
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             <summary>
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             Destroy a body.
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             All joints that are attached to this body will be put into limbo (i.e. unattached and
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             not affecting the simulation, but they will NOT be deleted)
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             </summary>
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             <param name="body">A  dBodyID</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dBodySetPosition(System.IntPtr,System.Single,System.Single,System.Single)">
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             <summary>
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             Set the position of the body.
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             After setting a group of bodies, the outcome of the simulation is undefined if the new configuration
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             is inconsistent with the joints/constraints that are present.
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             </summary>
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             <param name="body">A  dBodyID</param>
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             <param name="x">A  dReal</param>
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             <param name="y">A  dReal</param>
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             <param name="z">A  dReal</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dBodySetRotation(System.IntPtr,System.Single[])">
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             <summary>
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             Set the rotation of the body.
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             After setting a group of bodies, the outcome of the simulation is undefined if the new configuration
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             is inconsistent with the joints/constraints that are present.
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             </summary>
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             <param name="body">the body to set</param>
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             <param name="R">An array of 12 elements containing the new 3x4 rotation matrix</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dBodySetRotation(System.IntPtr,Tao.Ode.Ode.dMatrix3)">
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             <summary>
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             Set the rotation of the body.
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             After setting a group of bodies, the outcome of the simulation is undefined if the new configuration
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             is inconsistent with the joints/constraints that are present.
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             </summary>
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             <remarks>
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             For some reason the dMatrix3 does not marshall correctly, so this function
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             maintains compatibility with the ODE api by converting the supplied dMatrix3 to
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             and array and passing that to ODE.
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             </remarks>
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             <param name="body">the body to set</param>
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             <param name="R">A  dMatrix3 containing the new rotation matrix</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dBodySetQuaternion(System.IntPtr,Tao.Ode.Ode.dQuaternion@)">
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             <summary>
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             Set the orientation on of the body.
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             Orientation is represented by a quaternion (qs,qx,qy,qz)
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             After setting a group of bodies, the outcome of the simulation is undefined if the new configuration
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             is inconsistent with the joints/constraints that are present.
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             </summary>
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             <param name="body">A  dBodyID</param>
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             <param name="q">A  dQuaternion</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dBodySetLinearVel(System.IntPtr,System.Single,System.Single,System.Single)">
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             <summary>
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             Set the linear velocity of the body.
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             After setting a group of bodies, the outcome of the simulation is undefined if the new configuration
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             is inconsistent with the joints/constraints that are present.
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             </summary>
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             <param name="body">A  dBodyID</param>
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             <param name="x">A  dReal</param>
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             <param name="y">A  dReal</param>
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             <param name="z">A  dReal</param>
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        </member>
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        <member name="M:Tao.Ode.Ode.dBodySetAngularVel(System.IntPtr,System.Single,System.Single,System.Single)">
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             <summary>
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             Set the angular velocity of the body.
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             After setting a group of bodies, the outcome of the simulation is undefined if the new configuration
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             is inconsistent with the joints/constraints that are present.
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             </summary>
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             <param name="body">A  dBodyID</param>
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             <param name="x">A  dReal</param>
484
             <param name="y">A  dReal</param>
485
             <param name="z">A  dReal</param>
486
        </member>
487
        <member name="M:Tao.Ode.Ode.dBodyGetPosition(System.IntPtr)">
488
             <summary>
489
             Get the position of the body
490
            
491
             The vector is valid until any changes are made to the rigid body system structure.
492
             </summary>
493
             <returns>A dVector3</returns>
494
             <param name="body">A  dBodyID</param>
495
        </member>
496
        <member name="M:Tao.Ode.Ode.dBodyGetRotation(System.IntPtr)">
497
             <summary>
498
             Get the rotation of the body.
499
            
500
             The returned value is a 4x3 rotation matrix.
501
             The matrix is valid until any changes are made to the rigid body system structure.
502
             </summary>
503
             <returns>A dMatrix3</returns>
504
             <param name="body">A  dBodyID</param>
505
        </member>
506
        <member name="M:Tao.Ode.Ode.dBodyGetQuaternion(System.IntPtr)">
507
             <summary>
508
             Get the orientation of a body.
509
            
510
             Orientation is represented by a quaternion (qs,qx,qy,qz)
511
             </summary>
512
             <returns>A dQuaternion</returns>
513
             <param name="body">A  dBodyID</param>
514
        </member>
515
        <member name="M:Tao.Ode.Ode.dBodyGetLinearVel(System.IntPtr)">
516
             <summary>
517
             Get the linear velocity of a body
518
            
519
             The vector is valid until any changes are made to the rigid body system structure.
520
             </summary>
521
             <returns>A dVector3</returns>
522
             <param name="body">A  dBodyID</param>
523
        </member>
524
        <member name="M:Tao.Ode.Ode.dBodyGetAngularVel(System.IntPtr)">
525
             <summary>
526
             Get the angular velocity of a body
527
            
528
             The vector is valid until any changes are made to the rigid body system structure.
529
             </summary>
530
             <returns>A dVector3</returns>
531
             <param name="body">A  dBodyID</param>
532
        </member>
533
        <member name="M:Tao.Ode.Ode.dBodySetMass(System.IntPtr,Tao.Ode.Ode.dMass@)">
534
            <summary>
535
            Set the mass of the body (see the mass functions)
536
            </summary>
537
            <param name="body">A  dBodyID</param>
538
            <param name="mass">A  dMass</param>
539
        </member>
540
        <member name="M:Tao.Ode.Ode.dBodyGetMass(System.IntPtr,Tao.Ode.Ode.dMass@)">
541
            <summary>
542
            Get the mass of the body (see the mass functions)
543
            </summary>
544
            <param name="body">A  dBodyID</param>
545
            <param name="mass">A  dMass</param>
546
        </member>
547
        <member name="M:Tao.Ode.Ode.dBodyAddForce(System.IntPtr,System.Single,System.Single,System.Single)">
548
             <summary>
549
             Add force to a body using absolute coordinates.
550
             </summary>
551
             <remarks>
552
             Forces are accumulated on to each body, and the accumulators are zeroed after each time step.
553
            
554
             Force is applied at body's center of mass
555
             </remarks>
556
             <param name="body">A  dBodyID</param>
557
             <param name="fx">A  dReal</param>
558
             <param name="fy">A  dReal</param>
559
             <param name="fz">A  dReal</param>
560
        </member>
561
        <member name="M:Tao.Ode.Ode.dBodyAddTorque(System.IntPtr,System.Single,System.Single,System.Single)">
562
             <summary>
563
             Add torque to a body using absolute coordinates.
564
             </summary>
565
             <remarks>
566
             Forces are accumulated on to each body, and the accumulators are zeroed after each time step.
567
            
568
             Force is applied at body's center of mass
569
             </remarks>
570
             <param name="body">A  dBodyID</param>
571
             <param name="fx">A  dReal</param>
572
             <param name="fy">A  dReal</param>
573
             <param name="fz">A  dReal</param>
574
        </member>
575
        <member name="M:Tao.Ode.Ode.dBodyAddRelForce(System.IntPtr,System.Single,System.Single,System.Single)">
576
             <summary>
577
             Add force to a body using relative coordinates.
578
            
579
             This function takes a force vector that is relative to the body's own frame of reference.
580
             </summary>
581
             <remarks>
582
             Forces are accumulated on to each body, and the accumulators are zeroed after each time step.
583
            
584
             Force is applied at body's center of mass
585
             </remarks>
586
             <param name="body">A  dBodyID</param>
587
             <param name="fx">A  dReal</param>
588
             <param name="fy">A  dReal</param>
589
             <param name="fz">A  dReal</param>
590
        </member>
591
        <member name="M:Tao.Ode.Ode.dBodyAddRelTorque(System.IntPtr,System.Single,System.Single,System.Single)">
592
             <summary>
593
             Add torque to a body using relative coordinates.
594
            
595
             This function takes a force vector that is relative to the body's own frame of reference.
596
             </summary>
597
             <remarks>
598
             Forces are accumulated on to each body, and the accumulators are zeroed after each time step.
599
            
600
             Force is applied at body's center of mass
601
             </remarks>
602
             <param name="body">A  dBodyID</param>
603
             <param name="fx">A  dReal</param>
604
             <param name="fy">A  dReal</param>
605
             <param name="fz">A  dReal</param>
606
        </member>
607
        <member name="M:Tao.Ode.Ode.dBodyAddForceAtPos(System.IntPtr,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
608
             <summary>
609
             Add force to a body using absolute coordinates at specified absolute position.
610
            
611
             The supplied position vector specifies the point at which the force is supplied in global coordinates.
612
             </summary>
613
             <remarks>
614
             Forces are accumulated on to each body, and the accumulators are zeroed after each time step.
615
            
616
             Force is applied at specified point.
617
             </remarks>
618
             <param name="body">A  dBodyID</param>
619
             <param name="fx">A  dReal</param>
620
             <param name="fy">A  dReal</param>
621
             <param name="fz">A  dReal</param>
622
             <param name="px">A  dReal</param>
623
             <param name="py">A  dReal</param>
624
             <param name="pz">A  dReal</param>
625
        </member>
626
        <member name="M:Tao.Ode.Ode.dBodyAddForceAtRelPos(System.IntPtr,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
627
             <summary>
628
             Add force to a body using absolute coordinates at specified relative position.
629
            
630
             The supplied position vector specifies the point at which the force is supplied in body-relative coordinates.
631
             </summary>
632
             <remarks>
633
             Forces are accumulated on to each body, and the accumulators are zeroed after each time step.
634
            
635
             Force is applied at specified point.
636
             </remarks>
637
             <param name="body">A  dBodyID</param>
638
             <param name="fx">A  dReal</param>
639
             <param name="fy">A  dReal</param>
640
             <param name="fz">A  dReal</param>
641
             <param name="px">A  dReal</param>
642
             <param name="py">A  dReal</param>
643
             <param name="pz">A  dReal</param>
644
        </member>
645
        <member name="M:Tao.Ode.Ode.dBodyAddRelForceAtPos(System.IntPtr,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
646
             <summary>
647
             Add force to a body using body-relative coordinates at specified absolute position.
648
            
649
             The supplied position vector specifies the point at which the force is supplied in global coordinates.
650
             </summary>
651
             <remarks>
652
             Forces are accumulated on to each body, and the accumulators are zeroed after each time step.
653
            
654
             Force is applied at specified point.
655
             </remarks>
656
             <param name="body">A  dBodyID</param>
657
             <param name="fx">A  dReal</param>
658
             <param name="fy">A  dReal</param>
659
             <param name="fz">A  dReal</param>
660
             <param name="px">A  dReal</param>
661
             <param name="py">A  dReal</param>
662
             <param name="pz">A  dReal</param>
663
        </member>
664
        <member name="M:Tao.Ode.Ode.dBodyAddRelForceAtRelPos(System.IntPtr,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
665
             <summary>
666
             Add force to a body using body-relative coordinates at specified relative position.
667
            
668
             The supplied position vector specifies the point at which the force is supplied in body-relative coordinates.
669
             </summary>
670
             <remarks>
671
             Forces are accumulated on to each body, and the accumulators are zeroed after each time step.
672
            
673
             Force is applied at specified point.
674
             </remarks>
675
             <param name="body">A  dBodyID</param>
676
             <param name="fx">A  dReal</param>
677
             <param name="fy">A  dReal</param>
678
             <param name="fz">A  dReal</param>
679
             <param name="px">A  dReal</param>
680
             <param name="py">A  dReal</param>
681
             <param name="pz">A  dReal</param>
682
        </member>
683
        <member name="M:Tao.Ode.Ode.dBodyGetForce(System.IntPtr)">
684
            <summary>
685
            Return the current accumulated force on the body.
686
            </summary>
687
            <remarks>
688
            In ODE, the returned values are pointers to internal data structures, so the vectors are only valid until any
689
            changes are made to the rigid body system.
690
            </remarks>
691
            <returns>A dVector3</returns>
692
            <param name="body">A  dBodyID</param>
693
        </member>
694
        <member name="M:Tao.Ode.Ode.dBodyGetTorque(System.IntPtr)">
695
            <summary>
696
            Return the current accumulated torque on the body.
697
            </summary>
698
            <remarks>
699
            In ODE, the returned values are pointers to internal data structures, so the vectors are only valid until any
700
            changes are made to the rigid body system.
701
            </remarks>
702
            <returns>A dVector3</returns>
703
            <param name="body">A  dBodyID</param>
704
        </member>
705
        <member name="M:Tao.Ode.Ode.dBodySetForce(System.IntPtr,System.Single,System.Single,System.Single)">
706
            <summary>
707
            Set the body force accumulation vector.
708
            This is mostly useful to zero the force and torque for deactivated bodies before they are reactivated,
709
            in the case where the force-adding functions were called on them while they were deactivated.
710
            </summary>
711
            <param name="b">A  dBodyID</param>
712
            <param name="x">A  dReal</param>
713
            <param name="y">A  dReal</param>
714
            <param name="z">A  dReal</param>
715
        </member>
716
        <member name="M:Tao.Ode.Ode.dBodySetTorque(System.IntPtr,System.Single,System.Single,System.Single)">
717
            <summary>
718
            Set the body torque accumulation vector.
719
            This is mostly useful to zero the force and torque for deactivated bodies before they are reactivated,
720
            in the case where the force-adding functions were called on them while they were deactivated.
721
            </summary>
722
            <param name="b">A  dBodyID</param>
723
            <param name="x">A  dReal</param>
724
            <param name="y">A  dReal</param>
725
            <param name="z">A  dReal</param>
726
        </member>
727
        <member name="M:Tao.Ode.Ode.dBodyGetRelPointPos(System.IntPtr,System.Single,System.Single,System.Single,Tao.Ode.Ode.dVector3@)">
728
            <summary>
729
            Take a point on a body (px,py,pz) and return that point's position in body-relative coordinates (in result).
730
            </summary>
731
            <param name="body">A  dBodyID</param>
732
            <param name="px">A  dReal</param>
733
            <param name="py">A  dReal</param>
734
            <param name="pz">A  dReal</param>
735
            <param name="result">A  dVector3</param>
736
        </member>
737
        <member name="M:Tao.Ode.Ode.dBodyGetRelPointVel(System.IntPtr,System.Single,System.Single,System.Single,Tao.Ode.Ode.dVector3@)">
738
            <summary>
739
            Take a point on a body (px,py,pz) and return that point's velocity in body-relative coordinates (in result).
740
            </summary>
741
            <param name="body">A  dBodyID</param>
742
            <param name="px">A  dReal</param>
743
            <param name="py">A  dReal</param>
744
            <param name="pz">A  dReal</param>
745
            <param name="result">A  dVector3</param>
746
        </member>
747
        <member name="M:Tao.Ode.Ode.dBodyGetPointVel(System.IntPtr,System.Single,System.Single,System.Single,Tao.Ode.Ode.dVector3@)">
748
            <summary>
749
            Take a point on a body (px,py,pz) and return that point's position in absolute coordinates (in result).
750
            </summary>
751
            <param name="body">A  dBodyID</param>
752
            <param name="px">A  dReal</param>
753
            <param name="py">A  dReal</param>
754
            <param name="pz">A  dReal</param>
755
            <param name="result">A  dVector3</param>
756
        </member>
757
        <member name="M:Tao.Ode.Ode.dBodyGetPosRelPoint(System.IntPtr,System.Single,System.Single,System.Single,Tao.Ode.Ode.dVector3@)">
758
            <summary>
759
            This is the inverse of dBodyGetRelPointPos.
760
            It takes a point in global coordinates (x,y,z) and returns the point's position in body-relative
761
            coordinates (result).
762
            </summary>
763
            <param name="body">A  dBodyID</param>
764
            <param name="px">A  dReal</param>
765
            <param name="py">A  dReal</param>
766
            <param name="pz">A  dReal</param>
767
            <param name="result">A  dVector3</param>
768
        </member>
769
        <member name="M:Tao.Ode.Ode.dBodyVectorToWorld(System.IntPtr,System.Single,System.Single,System.Single,Tao.Ode.Ode.dVector3@)">
770
            <summary>
771
            Given a vector expressed in the body coordinate system (x,y,z), rotate it to the world coordinate system (result).
772
            </summary>
773
            <param name="body">A  dBodyID</param>
774
            <param name="px">A  dReal</param>
775
            <param name="py">A  dReal</param>
776
            <param name="pz">A  dReal</param>
777
            <param name="result">A  dVector3</param>
778
        </member>
779
        <member name="M:Tao.Ode.Ode.dBodyVectorFromWorld(System.IntPtr,System.Single,System.Single,System.Single,Tao.Ode.Ode.dVector3@)">
780
            <summary>
781
            Given a vector expressed in the world coordinate system (x,y,z), rotate it to the body coordinate system (result).
782
            </summary>
783
            <param name="body">A  dBodyID</param>
784
            <param name="px">A  dReal</param>
785
            <param name="py">A  dReal</param>
786
            <param name="pz">A  dReal</param>
787
            <param name="result">A  dVector3</param>
788
        </member>
789
        <member name="M:Tao.Ode.Ode.dBodySetData(System.IntPtr,System.IntPtr)">
790
             <summary>
791
             Set the body's user-data pointer.
792
            
793
             </summary>
794
             <param name="body">A  dBodyID</param>
795
             <param name="data">An IntPtr</param>
796
        </member>
797
        <member name="M:Tao.Ode.Ode.dBodyGetData(System.IntPtr)">
798
            <summary>
799
            Get the body's user-data pointer.
800
            </summary>
801
            <returns>An IntPtr</returns>
802
            <param name="body">A  dBodyID</param>
803
        </member>
804
        <member name="M:Tao.Ode.Ode.dBodySetFiniteRotationMode(System.IntPtr,System.Int32)">
805
             <summary>
806
             This function controls the way a body's orientation is updated at each time step. The mode argument can be:
807
            
808
             	-	0: An ``infinitesimal'' orientation update is used. This is fast to compute, but it can occasionally
809
             		cause inaccuracies for bodies that are rotating at high speed, especially when those bodies are
810
             		joined to other bodies.
811
             		This is the default for every new body that is created.
812
            
813
             	-	1: A ``finite'' orientation update is used. This is more costly to compute, but will be more
814
             		accurate for high speed rotations. Note however that high speed rotations can result in many
815
             		types of error in a simulation, and this mode will only fix one of those sources of error.
816
             </summary>
817
             <param name="body">A  dBodyID</param>
818
             <param name="mode">An int</param>
819
        </member>
820
        <member name="M:Tao.Ode.Ode.dBodyGetFiniteRotationMode(System.IntPtr)">
821
            <summary>
822
            Return the current finite rotation mode of a body (0 or 1).
823
            </summary>
824
            <returns>An int</returns>
825
            <param name="body">A  dBodyID</param>
826
        </member>
827
        <member name="M:Tao.Ode.Ode.dBodySetFiniteRotationAxis(System.IntPtr,System.Single,System.Single,System.Single)">
828
             <summary>
829
             This sets the finite rotation axis for a body.
830
             This axis only has meaning when the finite rotation mode is set (see dBodySetFiniteRotationMode).
831
            
832
             If this axis is zero (0,0,0), full finite rotations are performed on the body.
833
            
834
             If this axis is nonzero, the body is rotated by performing a partial finite rotation along the axis direction
835
             followed by an infinitesimal rotation along an orthogonal direction.
836
            
837
             This can be useful to alleviate certain sources of error caused by quickly spinning bodies. For example, if a
838
             car wheel is rotating at high speed you can call this function with the wheel's hinge axis as the argument to
839
             try and improve its behavior.
840
             </summary>
841
             <param name="body">A  dBodyID</param>
842
             <param name="x">A  dReal</param>
843
             <param name="y">A  dReal</param>
844
             <param name="z">A  dReal</param>
845
        </member>
846
        <member name="M:Tao.Ode.Ode.dBodyGetFiniteRotationAxis(System.IntPtr,Tao.Ode.Ode.dVector3@)">
847
            <summary>
848
            Return the current finite rotation axis of a body.
849
            </summary>
850
            <param name="body">A  dBodyID</param>
851
            <param name="result">A  dVector3</param>
852
        </member>
853
        <member name="M:Tao.Ode.Ode.dBodyGetNumJoints(System.IntPtr)">
854
            <summary>
855
            Return the number of joints that are attached to this body.
856
            </summary>
857
            <returns>An int</returns>
858
            <param name="b">A  dBodyID</param>
859
        </member>
860
        <member name="M:Tao.Ode.Ode.dBodyGetJoint(System.IntPtr,System.Int32)">
861
             <summary>
862
             Return a joint attached to this body, given by index.
863
            
864
             Valid indexes are 0 to n-1 where n is the value returned by dBodyGetNumJoints.
865
             </summary>
866
             <returns>A dJointID</returns>
867
             <param name="body">A  dBodyID</param>
868
             <param name="index">An int</param>
869
        </member>
870
        <member name="M:Tao.Ode.Ode.dBodySetGravityMode(System.IntPtr,System.Int32)">
871
             <summary>
872
             Set whether the body is influenced by the world's gravity or not.
873
            
874
             If mode is nonzero it is, if mode is zero, it isn't.
875
            
876
             Newly created bodies are always influenced by the world's gravity.
877
             </summary>
878
             <param name="b">A  dBodyID</param>
879
             <param name="mode">An int</param>
880
        </member>
881
        <member name="M:Tao.Ode.Ode.dBodyGetGravityMode(System.IntPtr)">
882
             <summary>
883
             Get whether the body is influenced by the world's gravity or not.
884
            
885
             If mode is nonzero it is, if mode is zero, it isn't.
886
             </summary>
887
             <returns>An int</returns>
888
             <param name="b">A  dBodyID</param>
889
        </member>
890
        <member name="M:Tao.Ode.Ode.dBodyEnable(System.IntPtr)">
891
            <summary>
892
            Manually enable a body.
893
            Note that a disabled body that is connected through a joint to an enabled body
894
            will be automatically re-enabled at the next simulation step.
895
            </summary>
896
            <param name="body">A  dBodyID</param>
897
        </member>
898
        <member name="M:Tao.Ode.Ode.dBodyDisable(System.IntPtr)">
899
            <summary>
900
            Manually disable a body.
901
            Note that a disabled body that is connected through a joint to an enabled body
902
            will be automatically re-enabled at the next simulation step.
903
            </summary>
904
            <param name="body">A  dBodyID</param>
905
        </member>
906
        <member name="M:Tao.Ode.Ode.dBodyIsEnabled(System.IntPtr)">
907
            <summary>
908
            Method dBodyIsEnabled
909
            Return 1 if a body is currently enabled or 0 if it is disabled.
910
            </summary>
911
            <returns>An int</returns>
912
            <param name="body">A  dBodyID</param>
913
        </member>
914
        <member name="M:Tao.Ode.Ode.dBodySetAutoDisableFlag(System.IntPtr,System.Int32)">
915
             <summary>
916
             Method dBodySetAutoDisableFlag
917
             Set the auto-disable flag of a body.
918
            
919
             If the do_auto_disable is nonzero the body will be automatically disabled when it has been idle for long enough.
920
             </summary>
921
             <param name="body">A  dBodyID</param>
922
             <param name="do_auto_disable">An int</param>
923
        </member>
924
        <member name="M:Tao.Ode.Ode.dBodyGetAutoDisableFlag(System.IntPtr)">
925
             <summary>
926
             Method dBodyGetAutoDisableFlag
927
             Get the auto-disable flag of a body.
928
            
929
             If the do_auto_disable is nonzero the body will be automatically disabled when it has been idle for long enough.
930
             </summary>
931
             <returns>An int</returns>
932
             <param name="body">A  dBodyID</param>
933
        </member>
934
        <member name="M:Tao.Ode.Ode.dBodySetAutoDisableLinearThreshold(System.IntPtr,System.Single)">
935
             <summary>
936
             Method dBodySetAutoDisableLinearThreshold
937
             Set a body's linear velocity threshold for automatic disabling.
938
            
939
             The body's linear velocity magnitude must be less than this threshold for
940
             it to be considered idle.
941
            
942
             Set the threshold to dInfinity to prevent the linear velocity from being considered.
943
             </summary>
944
             <param name="body">A  dBodyID</param>
945
             <param name="linear_threshold">A  dReal</param>
946
        </member>
947
        <member name="M:Tao.Ode.Ode.dBodyGetAutoDisableLinearThreshold(System.IntPtr)">
948
             <summary>
949
             Method dBodyGetAutoDisableLinearThreshold
950
             Get a body's linear velocity threshold for automatic disabling.
951
            
952
             The body's linear velocity magnitude must be less than this threshold for
953
             it to be considered idle.
954
            
955
             Set the threshold to dInfinity to prevent the linear velocity from being considered.
956
             </summary>
957
             <returns>A dReal</returns>
958
             <param name="body">A  dBodyID</param>
959
        </member>
960
        <member name="M:Tao.Ode.Ode.dBodySetAutoDisableAngularThreshold(System.IntPtr,System.Single)">
961
             <summary>
962
             Method dBodySetAutoDisableAngularThreshold
963
             Set a body's angular velocity threshold for automatic disabling.
964
            
965
             The body's linear angular magnitude must be less than this threshold for
966
             it to be considered idle.
967
            
968
             Set the threshold to dInfinity to prevent the angular velocity from being considered.
969
             </summary>
970
             <param name="body">A  dBodyID</param>
971
             <param name="angular_threshold">A  dReal</param>
972
        </member>
973
        <member name="M:Tao.Ode.Ode.dBodyGetAutoDisableAngularThreshold(System.IntPtr)">
974
             <summary>
975
             Method dBodyGetAutoDisableAngularThreshold
976
             Get a body's angular velocity threshold for automatic disabling.
977
            
978
             The body's linear angular magnitude must be less than this threshold for
979
             it to be considered idle.
980
            
981
             Set the threshold to dInfinity to prevent the angular velocity from being considered.
982
             </summary>
983
             <returns>A dReal</returns>
984
             <param name="body">A  dBodyID</param>
985
        </member>
986
        <member name="M:Tao.Ode.Ode.dBodySetAutoDisableSteps(System.IntPtr,System.Int32)">
987
             <summary>
988
             Method dBodySetAutoDisableSteps
989
             Set the number of simulation steps that a body must be idle before
990
             it is automatically disabled.
991
            
992
             Set this to zero to disable consideration of the number of steps.
993
             </summary>
994
             <param name="body">A  dBodyID</param>
995
             <param name="steps">An int</param>
996
        </member>
997
        <member name="M:Tao.Ode.Ode.dBodyGetAutoDisableSteps(System.IntPtr)">
998
             <summary>
999
             Method dBodyGetAutoDisableSteps
1000
             Get the number of simulation steps that a body must be idle before
1001
             it is automatically disabled.
1002
            
1003
              If zero, consideration of the number of steps is disabled.
1004
             </summary>
1005
             <returns>An int</returns>
1006
             <param name="body">A  dBodyID</param>
1007
        </member>
1008
        <member name="M:Tao.Ode.Ode.dBodySetAutoDisableTime(System.IntPtr,System.Single)">
1009
             <summary>
1010
             Method dBodySetAutoDisableTime
1011
             Set the amount of simulation time that a body must be idle before
1012
             it is automatically disabled.
1013
            
1014
             Set this to zero to disable consideration of the amount of simulation time.
1015
             </summary>
1016
             <param name="body">A  dBodyID</param>
1017
             <param name="time">A  dReal</param>
1018
        </member>
1019
        <member name="M:Tao.Ode.Ode.dBodyGetAutoDisableTime(System.IntPtr)">
1020
             <summary>
1021
             Method dBodyGetAutoDisableTime
1022
             Get the amount of simulation time that a body must be idle before
1023
             it is automatically disabled.
1024
            
1025
             If zero, consideration of the amount of simulation time is disabled.
1026
             </summary>
1027
             <returns>A dReal</returns>
1028
             <param name="body">A  dBodyID</param>
1029
        </member>
1030
        <member name="M:Tao.Ode.Ode.dBodySetAutoDisableDefaults(System.IntPtr)">
1031
            <summary>
1032
            Method dBodySetAutoDisableDefaults
1033
            Set the auto-disable parameters of the body to the default parameters
1034
            that have been set on the world.
1035
            </summary>
1036
            <param name="body">A  dBodyID</param>
1037
        </member>
1038
        <member name="M:Tao.Ode.Ode.dJointCreateBall(System.IntPtr,System.IntPtr)">
1039
             <summary>
1040
             Create a new ball joint.
1041
            
1042
             The joint is initially in "limbo" (i.e. it has no effect on the simulation)
1043
             because it does not connect to any bodies.
1044
            
1045
             The joint group ID is 0 to allocate the joint normally.
1046
             If it is nonzero the joint is allocated in the given joint group.
1047
             </summary>
1048
             <returns>A dJointID</returns>
1049
             <param name="world">A  dWorldID</param>
1050
             <param name="group">A  dJointGroupID</param>
1051
        </member>
1052
        <member name="M:Tao.Ode.Ode.dJointCreateHinge(System.IntPtr,System.IntPtr)">
1053
             <summary>
1054
             Create a new hinge joint.
1055
            
1056
             The joint is initially in "limbo" (i.e. it has no effect on the simulation)
1057
             because it does not connect to any bodies.
1058
            
1059
             The joint group ID is 0 to allocate the joint normally.
1060
             If it is nonzero the joint is allocated in the given joint group.
1061
             </summary>
1062
             <returns>A dJointID</returns>
1063
             <param name="world">A  dWorldID</param>
1064
             <param name="group">A  dJointGroupID</param>
1065
        </member>
1066
        <member name="M:Tao.Ode.Ode.dJointCreateSlider(System.IntPtr,System.IntPtr)">
1067
             <summary>
1068
             Create a new slider joint.
1069
            
1070
             The joint is initially in "limbo" (i.e. it has no effect on the simulation)
1071
             because it does not connect to any bodies.
1072
            
1073
             The joint group ID is 0 to allocate the joint normally.
1074
             If it is nonzero the joint is allocated in the given joint group.
1075
             </summary>
1076
             <returns>A dJointID</returns>
1077
             <param name="world">A  dWorldID</param>
1078
             <param name="group">A  dJointGroupID</param>
1079
        </member>
1080
        <member name="M:Tao.Ode.Ode.dJointCreateContact(System.IntPtr,System.IntPtr,Tao.Ode.Ode.dContact@)">
1081
             <summary>
1082
             Create a new contact joint.
1083
            
1084
             The joint is initially in "limbo" (i.e. it has no effect on the simulation)
1085
             because it does not connect to any bodies.
1086
            
1087
             The joint group ID is 0 to allocate the joint normally.
1088
             If it is nonzero the joint is allocated in the given joint group.
1089
            
1090
             The contact joint will be initialized with the given dContact structure.
1091
             </summary>
1092
             <returns>A dJointID</returns>
1093
             <param name="world">A  dWorldID</param>
1094
             <param name="group">A  dJointGroupID</param>
1095
             <param name="contact"></param>
1096
        </member>
1097
        <member name="M:Tao.Ode.Ode.dJointCreateHinge2(System.IntPtr,System.IntPtr)">
1098
             <summary>
1099
             Create a new hinge-2 joint.
1100
            
1101
             The joint is initially in "limbo" (i.e. it has no effect on the simulation)
1102
             because it does not connect to any bodies.
1103
            
1104
             The joint group ID is 0 to allocate the joint normally.
1105
             If it is nonzero the joint is allocated in the given joint group.
1106
             </summary>
1107
             <returns>A dJointID</returns>
1108
             <param name="world">A  dWorldID</param>
1109
             <param name="group">A  dJointGroupID</param>
1110
        </member>
1111
        <member name="M:Tao.Ode.Ode.dJointCreateUniversal(System.IntPtr,System.IntPtr)">
1112
             <summary>
1113
             Create a new universal joint.
1114
            
1115
             The joint is initially in "limbo" (i.e. it has no effect on the simulation)
1116
             because it does not connect to any bodies.
1117
            
1118
             The joint group ID is 0 to allocate the joint normally.
1119
             If it is nonzero the joint is allocated in the given joint group.
1120
             </summary>
1121
             <returns>A dJointID</returns>
1122
             <param name="world">A  dWorldID</param>
1123
             <param name="group">A  dJointGroupID</param>
1124
        </member>
1125
        <member name="M:Tao.Ode.Ode.dJointCreateFixed(System.IntPtr,System.IntPtr)">
1126
             <summary>
1127
             Create a new fixed joint.
1128
            
1129
             The joint is initially in "limbo" (i.e. it has no effect on the simulation)
1130
             because it does not connect to any bodies.
1131
            
1132
             The joint group ID is 0 to allocate the joint normally.
1133
             If it is nonzero the joint is allocated in the given joint group.
1134
             </summary>
1135
             <returns>A dJointID</returns>
1136
             <param name="world">A  dWorldID</param>
1137
             <param name="group">A  dJointGroupID</param>
1138
        </member>
1139
        <member name="M:Tao.Ode.Ode.dJointCreateNull(System.IntPtr,System.IntPtr)">
1140
             <summary>
1141
             Create a new "null" joint.
1142
            
1143
             There's no discussion of this in the docs or sourcecode.
1144
             The only mention is the following entry in the ODE Changelog:
1145
            
1146
             	10/11/01 russ
1147
            
1148
             	* joints can now return m=0 to be "inactive". added a "null" joint
1149
             	to test this.
1150
            
1151
             This suggests a null joint is mainly useful for testing and should probably
1152
             be ignored by users of the bindings.
1153
             </summary>
1154
             <returns>A dJointID</returns>
1155
             <param name="world">A  dWorldID</param>
1156
             <param name="group">A  dJointGroupID</param>
1157
        </member>
1158
        <member name="M:Tao.Ode.Ode.dJointCreateAMotor(System.IntPtr,System.IntPtr)">
1159
             <summary>
1160
             Create a new angular motor joint.
1161
            
1162
             The joint is initially in "limbo" (i.e. it has no effect on the simulation)
1163
             because it does not connect to any bodies.
1164
            
1165
             The joint group ID is 0 to allocate the joint normally.
1166
             If it is nonzero the joint is allocated in the given joint group.
1167
             </summary>
1168
             <returns>A dJointID</returns>
1169
             <param name="world">A  dWorldID</param>
1170
             <param name="group">A  dJointGroupID</param>
1171
        </member>
1172
        <member name="M:Tao.Ode.Ode.dJointCreateLMotor(System.IntPtr,System.IntPtr)">
1173
             <summary>
1174
             Create a new L-motor joint.
1175
            
1176
             The joint is initially in "limbo" (i.e. it has no effect on the simulation)
1177
             because it does not connect to any bodies.
1178
            
1179
             The joint group ID is 0 to allocate the joint normally.
1180
             If it is nonzero the joint is allocated in the given joint group.
1181
             </summary>
1182
             <returns>A dJointID</returns>
1183
             <param name="world">A  dWorldID</param>
1184
             <param name="group">A  dJointGroupID</param>
1185
        </member>
1186
        <member name="M:Tao.Ode.Ode.dJointDestroy(System.IntPtr)">
1187
            <summary>
1188
            Destroy a joint, disconnecting it from its attached bodies and removing it from the world.
1189
            However, if the joint is a member of a group then this function has no effect - to destroy
1190
            that joint the group must be emptied or destroyed.
1191
            </summary>
1192
            <param name="joint">A  dJointID</param>
1193
        </member>
1194
        <member name="M:Tao.Ode.Ode.dJointGroupCreate(System.Int32)">
1195
             <summary>
1196
             Create a joint group.
1197
            
1198
             NOTE: 	The max_size argument is no longer used and should be set to 0.
1199
             		It is kept for backwards compatibility.
1200
             </summary>
1201
             <returns>A dJointGroupID</returns>
1202
             <param name="max_size">An int</param>
1203
        </member>
1204
        <member name="M:Tao.Ode.Ode.dJointGroupDestroy(System.IntPtr)">
1205
            <summary>
1206
            Destroy a joint group. All joints in the joint group will be destroyed.
1207
            </summary>
1208
            <param name="group">A  dJointGroupID</param>
1209
        </member>
1210
        <member name="M:Tao.Ode.Ode.dJointGroupEmpty(System.IntPtr)">
1211
            <summary>
1212
            Empty a joint group.
1213
            All joints in the joint group will be destroyed, but the joint group itself will not be destroyed.
1214
            </summary>
1215
            <param name="group">A  dJointGroupID</param>
1216
        </member>
1217
        <member name="M:Tao.Ode.Ode.dJointAttach(System.IntPtr,System.IntPtr,System.IntPtr)">
1218
             <summary>
1219
             Attach the joint to some new bodies.
1220
            
1221
             If the joint is already attached, it will be detached from the old bodies first.
1222
             To attach this joint to only one body, set body1 or body2 to zero - a zero body
1223
             refers to the static environment.
1224
             Setting both bodies to zero puts the joint into "limbo", i.e. it will have no
1225
             effect on the simulation.
1226
             Some joints, like hinge-2 need to be attached to two bodies to work.
1227
             </summary>
1228
             <param name="joint">A  dJointID</param>
1229
             <param name="body1">A  dBodyID</param>
1230
             <param name="body2">A  dBodyID</param>
1231
        </member>
1232
        <member name="M:Tao.Ode.Ode.dJointSetData(System.IntPtr,System.IntPtr)">
1233
            <summary>
1234
            Set the joint's user-data pointer.
1235
            </summary>
1236
            <param name="joint">A  dJointID</param>
1237
            <param name="data">An IntPtr</param>
1238
        </member>
1239
        <member name="M:Tao.Ode.Ode.dJointGetData(System.IntPtr)">
1240
            <summary>
1241
            Get the joint's user-data pointer.
1242
            </summary>
1243
            <returns>An IntPtr</returns>
1244
            <param name="joint">A  dJointID</param>
1245
        </member>
1246
        <member name="M:Tao.Ode.Ode.dJointGetType(System.IntPtr)">
1247
             <summary>
1248
             Get the joint's type.
1249
            
1250
             The available joint types are:
1251
             	dJointTypeBall:  		A ball-and-socket joint.
1252
             	dJointTypeHinge:  		A hinge joint.
1253
             	dJointTypeSlider:  		A slider joint.
1254
             	dJointTypeContact:		A contact joint.
1255
             	dJointTypeUniversal:	A universal joint.
1256
             	dJointTypeHinge2:		A hinge-2 joint.
1257
             	dJointTypeFixed:		A fixed joint.
1258
             	dJointTypeAMotor:		An angular motor joint.
1259
            		dJointTypeLMotor:		An L-motor joint.
1260
             </summary>
1261
             <returns>An int</returns>
1262
             <param name="joint">A  dJointID</param>
1263
        </member>
1264
        <member name="M:Tao.Ode.Ode.dJointGetBody(System.IntPtr,System.Int32)">
1265
             <summary>
1266
             Return the bodies that this joint connects.
1267
            
1268
             If index is 0 the ``first'' body will be returned,
1269
             corresponding to the body1 argument of dJointAttach.
1270
             If index is 1 the ``second'' body will be returned,
1271
             corresponding to the body2 argument of dJointAttach.
1272
            
1273
             If one of these returned body IDs is zero, the joint
1274
             connects the other body to the static environment.
1275
            
1276
             If both body IDs are zero, the joint is in ``limbo'' and has no effect on the simulation.
1277
             </summary>
1278
             <returns>A dBodyID</returns>
1279
             <param name="joint">A  dJointID</param>
1280
             <param name="index">An int</param>
1281
        </member>
1282
        <member name="M:Tao.Ode.Ode.dJointSetFeedback(System.IntPtr,Tao.Ode.Ode.dJointFeedback@)">
1283
             <summary>
1284
             Pass a dJointFeedback structure to the joint to collect information about
1285
             the forces applied by each joint.
1286
            
1287
             Notes from the ODE docs:
1288
             	During the world time step, the forces that are applied by each joint are computed.
1289
             	These forces are added directly to the joined bodies, and the user normally has no
1290
             	way of telling which joint contributed how much force.
1291
            		If this information is desired then the user can allocate a dJointFeedback structure
1292
             	and pass its pointer to the dJointSetFeedback() function.
1293
            
1294
             	The feedback information structure is defined as follows (NOTE: C# version listed here):
1295
             			public struct dJointFeedback {
1296
            					public dVector3 f1;		/* force that joint applies to body 1  */
1297
            					public dVector3 t1;		/* torque that joint applies to body 1 */
1298
            					public dVector3 f2;		/* force that joint applies to body 2  */
1299
            					public dVector3 t2;		/* torque that joint applies to body 2 */
1300
            				};
1301
            		During the time step any feedback structures that are attached to joints will be
1302
             	filled in with the joint's force and torque information.
1303
            
1304
             	The dJointGetFeedback() function returns the current feedback structure pointer,
1305
             	or 0 if none is used (this is the default).
1306
            
1307
             	dJointSetFeedback() can be passed 0 to disable feedback for that joint.
1308
            
1309
             	TODO: Will passing 0 work?  Seems as if something else needs to be passed here
1310
            
1311
            		Now for some API design notes. It might seem strange to require that users perform the
1312
             	allocation of these structures. Why not just store the data statically in each joint?
1313
             	The reason is that not all users will use the feedback information, and even when it
1314
             	is used not all joints will need it. It will waste memory to store it statically,
1315
             	especially as this structure could grow to store a lot of extra information in the future.
1316
            		Why not have ODE allocate the structure itself, at the user's request? The reason is
1317
             	that contact joints (which are created and destroyed every time step) would require a
1318
             	lot of time to be spent in memory allocation if feedback is required. Letting the user
1319
             	do the allocation means that a better allocation strategy can be provided, e.g simply
1320
             	allocating them out of a fixed array.
1321
            
1322
            		The alternative to this API is to have a joint-force callback. This would work of course,
1323
             	but it has a few problems. First, callbacks tend to pollute APIs and sometimes require
1324
             	the user to go through unnatural contortions to get the data to the right place.
1325
             	Second, this would expose ODE to being changed in the middle of a step (which would have
1326
             	bad consequences), and there would have to be some kind of guard against this or a debugging
1327
             	check for it - which would complicate things.
1328
             </summary>
1329
             <param name="joint">A  dJointID</param>
1330
             <param name="feedback">A  dJointFeedback</param>
1331
        </member>
1332
        <member name="M:Tao.Ode.Ode.dJointGetFeedback(System.IntPtr)">
1333
             <summary>
1334
             Get the jointfeedback structure from the joint to get information about
1335
             the forces applied by each joint.
1336
            
1337
             	The feedback information structure is defined as follows (NOTE: C# version listed here):
1338
             			public struct dJointFeedback {
1339
            					public dVector3 f1;		/* force that joint applies to body 1  */
1340
            					public dVector3 t1;		/* torque that joint applies to body 1 */
1341
            					public dVector3 f2;		/* force that joint applies to body 2  */
1342
            					public dVector3 t2;		/* torque that joint applies to body 2 */
1343
            				};
1344
            
1345
             	The dJointGetFeedback() function returns the current feedback structure pointer,
1346
             	or 0 if none is used (this is the default).
1347
             	TODO: Will passing 0 work or does something special have to be done?
1348
             </summary>
1349
             <returns>A dJointFeedback</returns>
1350
             <param name="body">A  dBodyID</param>
1351
        </member>
1352
        <member name="M:Tao.Ode.Ode.dConnectingJoint(System.IntPtr,System.IntPtr)">
1353
             <summary>
1354
             Undocumented in ODE.
1355
            
1356
             Seems to return the first joint connecting the two specified bodies
1357
             </summary>
1358
             <param name="body1">the first body to query</param>
1359
             <param name="body2">the second body to query</param>
1360
             <returns>the id of the first joint found connecting the bodies</returns>
1361
        </member>
1362
        <member name="M:Tao.Ode.Ode.dConnectingJointList(System.IntPtr,System.IntPtr,System.IntPtr[]@)">
1363
             <summary>
1364
             Undocumented in ODE.
1365
            
1366
             Seems to return a list of the joints connecting the two specified bodies
1367
             </summary>
1368
             <param name="body1">the first body to query</param>
1369
             <param name="body2">the second body to query</param>
1370
             <param name="connectingJoints">An array of dJointID listing the joints connecting the specified bodies</param>
1371
             <returns>an int specifying the number of connecting joints found</returns>
1372
        </member>
1373
        <member name="M:Tao.Ode.Ode.dAreConnected(System.IntPtr,System.IntPtr)">
1374
             <summary>
1375
             Test if the two specified bodies are connected by a joint.
1376
            
1377
             Return 1 if yes, otherwise return 0
1378
             </summary>
1379
             <returns>An int</returns>
1380
             <param name="body1">A  dBodyID</param>
1381
             <param name="body2">A  dBodyID</param>
1382
        </member>
1383
        <member name="M:Tao.Ode.Ode.dAreConnectedExcluding(System.IntPtr,System.IntPtr,System.Int32)">
1384
            <summary>
1385
            Return 1 if the two bodies are connected together by a joint that does not
1386
            have type joint_type, otherwise return 0.
1387
            joint_type is a dJointTypeXXX constant.
1388
            This is useful for deciding whether to add contact joints between two bodies:
1389
            if they are already connected by non-contact joints then it may not be
1390
            appropriate to add contacts, however it is okay to add more contact between
1391
            bodies that already have contacts.
1392
            </summary>
1393
            <returns>An int</returns>
1394
            <param name="body1">A  dBodyID</param>
1395
            <param name="body2">A  dBodyID</param>
1396
            <param name="joint_type">An int</param>
1397
        </member>
1398
        <member name="M:Tao.Ode.Ode.dJointSetBallAnchor(System.IntPtr,System.Single,System.Single,System.Single)">
1399
            <summary>
1400
            Method dJointSetBallAnchor
1401
            Set the joint anchor point.
1402
            The joint will try to keep this point on each body together.
1403
            The input is specified in world coordinates.
1404
            </summary>
1405
            <param name="joint">A  dJointID</param>
1406
            <param name="x">A  dReal</param>
1407
            <param name="y">A  dReal</param>
1408
            <param name="z">A  dReal</param>
1409
        </member>
1410
        <member name="M:Tao.Ode.Ode.dJointSetBallAnchor2(System.IntPtr,System.Single,System.Single,System.Single)">
1411
            <summary>
1412
            Method dJointSetBallAnchor2
1413
            Set the joint anchor point.
1414
            The joint will try to keep this point on each body together.
1415
            The input is specified in world coordinates.
1416
            </summary>
1417
            <param name="joint">A  dJointID</param>
1418
            <param name="x">A  dReal</param>
1419
            <param name="y">A  dReal</param>
1420
            <param name="z">A  dReal</param>
1421
        </member>
1422
        <member name="M:Tao.Ode.Ode.dJointGetBallAnchor(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1423
            <summary>
1424
            Method dJointGetBallAnchor
1425
            Get the joint anchor point on body 1, in world coordinates.
1426
            If the joint is perfectly satisfied, this will be the same as the point on body 2.
1427
            </summary>
1428
            <param name="joint">A  dJointID</param>
1429
            <param name="result">A  dVector3</param>
1430
        </member>
1431
        <member name="M:Tao.Ode.Ode.dJointGetBallAnchor2(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1432
            <summary>
1433
            Method dJointGetBallAnchor2
1434
            Get the joint anchor point on body 2, in world coordinates.
1435
            You can think of a ball and socket joint as trying to keep the
1436
            result of dJointGetBallAnchor() and dJointGetBallAnchor2() the same.
1437
            If the joint is perfectly satisfied, this function will return the
1438
            same value as dJointGetBallAnchor to within roundoff errors.
1439
            dJointGetBallAnchor2 can be used, along with dJointGetBallAnchor,
1440
            to see how far the joint has come apart.
1441
            </summary>
1442
            <param name="joint">A  dJointID</param>
1443
            <param name="result">A  dVector3</param>
1444
        </member>
1445
        <member name="M:Tao.Ode.Ode.dJointSetHingeAnchor(System.IntPtr,System.Single,System.Single,System.Single)">
1446
            <summary>
1447
            Set hinge anchor parameters
1448
            </summary>
1449
            <param name="joint">A  dJointID</param>
1450
            <param name="x">A  dReal</param>
1451
            <param name="y">A  dReal</param>
1452
            <param name="z">A  dReal</param>
1453
        </member>
1454
        <member name="M:Tao.Ode.Ode.dJointSetHingeAnchorDelta(System.IntPtr,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
1455
            <summary>
1456
            Set hinge anchor parameters
1457
            </summary>
1458
            <param name="joint">A  dJointID</param>
1459
            <param name="x">A  dReal</param>
1460
            <param name="y">A  dReal</param>
1461
            <param name="z">A  dReal</param>
1462
            <param name="ax">A dReal</param>
1463
            <param name="ay">A dReal</param>
1464
            <param name="az">A dReal</param>
1465
        </member>
1466
        <member name="M:Tao.Ode.Ode.dJointSetHingeAxis(System.IntPtr,System.Single,System.Single,System.Single)">
1467
            <summary>
1468
            Set hinge axis parameters
1469
            </summary>
1470
            <param name="joint">A  dJointID</param>
1471
            <param name="x">A  dReal</param>
1472
            <param name="y">A  dReal</param>
1473
            <param name="z">A  dReal</param>
1474
        </member>
1475
        <member name="M:Tao.Ode.Ode.dJointGetHingeAnchor(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1476
            <summary>
1477
            Get the joint anchor point, in world coordinates.
1478
            This returns the point on body 1.
1479
            If the joint is perfectly satisfied, this will be the same as the point on body 2.
1480
            </summary>
1481
            <param name="joint">A  dJointID</param>
1482
            <param name="result">A  dVector3</param>
1483
        </member>
1484
        <member name="M:Tao.Ode.Ode.dJointGetHingeAnchor2(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1485
            <summary>
1486
            Get the joint anchor point, in world coordinates.
1487
            This returns the point on body 2.
1488
            If the joint is perfectly satisfied, this will return the same value as dJointGetHingeAnchor.
1489
            If not, this value will be slightly different.
1490
            This can be used, for example, to see how far the joint has come apart.
1491
            </summary>
1492
            <param name="joint">A  dJointID</param>
1493
            <param name="result">A  dVector3</param>
1494
        </member>
1495
        <member name="M:Tao.Ode.Ode.dJointGetHingeAxis(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1496
            <summary>
1497
            Get the hinge axis parameter for the joint.
1498
            </summary>
1499
            <param name="joint">A  dJointID</param>
1500
            <param name="result">A  dVector3</param>
1501
        </member>
1502
        <member name="M:Tao.Ode.Ode.dJointGetHingeAngle(System.IntPtr)">
1503
            <summary>
1504
            Get the hinge angle of the joint.
1505
            The angle is measured between the two bodies, or between the body
1506
            and the static environment.
1507
            The angle will be between -pi..pi.
1508
            When the hinge anchor or axis is set, the current position of the
1509
            attached bodies is examined and that position will be the zero angle.
1510
            </summary>
1511
            <returns>A dReal</returns>
1512
            <param name="joint">A  dJointID</param>
1513
        </member>
1514
        <member name="M:Tao.Ode.Ode.dJointGetHingeAngleRate(System.IntPtr)">
1515
            <summary>
1516
            Get the time derivative of the hinge angle of the joint
1517
            </summary>
1518
            <returns>A dReal</returns>
1519
            <param name="joint">A  dJointID</param>
1520
        </member>
1521
        <member name="M:Tao.Ode.Ode.dJointSetHingeParam(System.IntPtr,Tao.Ode.Ode.dJointParams,System.Single)">
1522
            <summary>
1523
            Set limit/motor parameters for a hinge joint
1524
            </summary>
1525
            <param name="joint">A  dJointID</param>
1526
            <param name="parameter">An int</param>
1527
            <param name="value">A  dReal</param>
1528
        </member>
1529
        <member name="M:Tao.Ode.Ode.dJointGetHingeParam(System.IntPtr,Tao.Ode.Ode.dJointParams)">
1530
            <summary>
1531
            Get limit/motor parameters for a hinge joint
1532
            </summary>
1533
            <returns>A dReal</returns>
1534
            <param name="joint">A  dJointID</param>
1535
            <param name="parameter">An int</param>
1536
        </member>
1537
        <member name="M:Tao.Ode.Ode.dJointAddHingeTorque(System.IntPtr,System.Single)">
1538
             <summary>
1539
             Applies the torque about the hinge axis.
1540
            
1541
             That is, it applies a torque with magnitude torque, in the direction of
1542
             the hinge axis, to body 1, and with the same magnitude but in opposite
1543
             direction to body 2.
1544
             </summary>
1545
             <remarks>
1546
             This function is just a wrapper for dBodyAddTorque
1547
             </remarks>
1548
             <param name="joint">A  dJointID</param>
1549
             <param name="torque">A  dReal</param>
1550
        </member>
1551
        <member name="M:Tao.Ode.Ode.dJointSetSliderAxis(System.IntPtr,System.Single,System.Single,System.Single)">
1552
            <summary>
1553
            Set the slider axis parameter.
1554
            </summary>
1555
            <param name="joint">A  dJointID</param>
1556
            <param name="x">A  dReal</param>
1557
            <param name="y">A  dReal</param>
1558
            <param name="z">A  dReal</param>
1559
        </member>
1560
        <member name="M:Tao.Ode.Ode.dJointSetSliderAxisDelta(System.IntPtr,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
1561
            <summary>
1562
            Set the slider axis delta.
1563
            </summary>
1564
            <param name="joint">A  dJointID</param>
1565
            <param name="x">A  dReal</param>
1566
            <param name="y">A  dReal</param>
1567
            <param name="z">A  dReal</param>
1568
            <param name="ax">A  dReal</param>
1569
            <param name="ay">A  dReal</param>
1570
            <param name="az">A  dReal</param>
1571
        </member>
1572
        <member name="M:Tao.Ode.Ode.dJointGetSliderAxis(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1573
            <summary>
1574
            Get the slider axis parameter
1575
            </summary>
1576
            <param name="joint">A  dJointID</param>
1577
            <param name="result">A  dVector3</param>
1578
        </member>
1579
        <member name="M:Tao.Ode.Ode.dJointGetSliderPosition(System.IntPtr)">
1580
             <summary>
1581
             Get the slider linear position (i.e. the slider's ``extension'')
1582
            
1583
             When the axis is set, the current position of the attached bodies
1584
             is examined and that position will be the zero position.
1585
             </summary>
1586
             <returns>A dReal</returns>
1587
             <param name="joint">A  dJointID</param>
1588
        </member>
1589
        <member name="M:Tao.Ode.Ode.dJointGetSliderPositionRate(System.IntPtr)">
1590
            <summary>
1591
            Get the time derivative of the slider linear position.
1592
            </summary>
1593
            <returns>A dReal</returns>
1594
            <param name="joint">A  dJointID</param>
1595
        </member>
1596
        <member name="M:Tao.Ode.Ode.dJointSetSliderParam(System.IntPtr,Tao.Ode.Ode.dJointParams,System.Single)">
1597
             <summary>
1598
             Set limit/motor parameters for a slider joint
1599
            
1600
             See http://ode.org/ode-latest-userguide.html#sec_7_5_1 for details
1601
             </summary>
1602
             <param name="joint">A  dJointID</param>
1603
             <param name="parameter">An int</param>
1604
             <param name="value">A  dReal</param>
1605
        </member>
1606
        <member name="M:Tao.Ode.Ode.dJointGetSliderParam(System.IntPtr,Tao.Ode.Ode.dJointParams)">
1607
             <summary>
1608
             Get limit/motor parameters for a slider joint
1609
            
1610
             See http://ode.org/ode-latest-userguide.html#sec_7_5_1 for details
1611
             </summary>
1612
             <returns>A dReal</returns>
1613
             <param name="joint">A  dJointID</param>
1614
             <param name="parameter">An int</param>
1615
        </member>
1616
        <member name="M:Tao.Ode.Ode.dJointAddSliderForce(System.IntPtr,System.Single)">
1617
            <summary>
1618
            Applies the given force in the slider's direction.
1619
            That is, it applies a force with magnitude force, in the direction
1620
            slider's axis, to body1, and with the same magnitude but opposite
1621
            direction to body2.
1622
            </summary>
1623
            <remarks>
1624
            This function is just a wrapper for dBodyAddForce.
1625
            </remarks>
1626
            <param name="joint">A  dJointID</param>
1627
            <param name="force">A  dReal</param>
1628
        </member>
1629
        <member name="M:Tao.Ode.Ode.dJointSetHinge2Anchor(System.IntPtr,System.Single,System.Single,System.Single)">
1630
            <summary>
1631
            Set hinge-2 anchor parameters
1632
            </summary>
1633
            <param name="joint">A  dJointID</param>
1634
            <param name="x">A  dReal</param>
1635
            <param name="y">A  dReal</param>
1636
            <param name="z">A  dReal</param>
1637
        </member>
1638
        <member name="M:Tao.Ode.Ode.dJointSetHinge2Axis1(System.IntPtr,System.Single,System.Single,System.Single)">
1639
             <summary>
1640
             Set hinge-2 axis 1 parameters
1641
            
1642
             Axis 1 and axis 2 must not lie on the same line
1643
             </summary>
1644
             <param name="joint">A  dJointID</param>
1645
             <param name="x">A  dReal</param>
1646
             <param name="y">A  dReal</param>
1647
             <param name="z">A  dReal</param>
1648
        </member>
1649
        <member name="M:Tao.Ode.Ode.dJointSetHinge2Axis2(System.IntPtr,System.Single,System.Single,System.Single)">
1650
             <summary>
1651
             Set hinge-2 axis 2 parameters
1652
            
1653
             Axis 1 and axis 2 must not lie on the same line
1654
             </summary>
1655
             <param name="joint">A  dJointID</param>
1656
             <param name="x">A  dReal</param>
1657
             <param name="y">A  dReal</param>
1658
             <param name="z">A  dReal</param>
1659
        </member>
1660
        <member name="M:Tao.Ode.Ode.dJointGetHinge2Anchor(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1661
            <summary>
1662
            Get the joint anchor point, in world coordinates.
1663
            This returns the point on body 1.
1664
            If the joint is perfectly satisfied, this will be the same as the point on body 2.
1665
            </summary>
1666
            <param name="joint">A  dJointID</param>
1667
            <param name="result">A  dVector3</param>
1668
        </member>
1669
        <member name="M:Tao.Ode.Ode.dJointGetHinge2Anchor2(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1670
            <summary>
1671
            Get the joint anchor point, in world coordinates.
1672
            This returns the point on body 2.
1673
            If the joint is perfectly satisfied, this will return the same value as dJointGetHinge2Anchor.
1674
            If not, this value will be slightly different.
1675
            This can be used, for example, to see how far the joint has come apart.
1676
            </summary>
1677
            <param name="joint">A  dJointID</param>
1678
            <param name="result">A  dVector3</param>
1679
        </member>
1680
        <member name="M:Tao.Ode.Ode.dJointGetHinge2Axis1(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1681
            <summary>
1682
            Get hinge-2 axis 1 parameters.
1683
            </summary>
1684
            <param name="joint">A  dJointID</param>
1685
            <param name="result">A  dVector3</param>
1686
        </member>
1687
        <member name="M:Tao.Ode.Ode.dJointGetHinge2Axis2(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1688
            <summary>
1689
            Get hinge-2 axis 2 parameters.
1690
            </summary>
1691
            <param name="joint">A  dJointID</param>
1692
            <param name="result">A  dVector3</param>
1693
        </member>
1694
        <member name="M:Tao.Ode.Ode.dJointGetHinge2Angle1(System.IntPtr)">
1695
             <summary>
1696
             Get the hinge-2 angles (around axis 1 and axis 2)
1697
            
1698
             When the anchor or axis is set, the current position of the attached bodies
1699
             is examined and that position will be the zero angle.
1700
             </summary>
1701
             <returns>A dReal</returns>
1702
             <param name="joint">A  dJointID</param>
1703
        </member>
1704
        <member name="M:Tao.Ode.Ode.dJointGetHinge2Angle1Rate(System.IntPtr)">
1705
            <summary>
1706
            Get the time derivative of hinge-2 angle 1
1707
            </summary>
1708
            <returns>A dReal</returns>
1709
            <param name="joint">A  dJointID</param>
1710
        </member>
1711
        <member name="M:Tao.Ode.Ode.dJointGetHinge2Angle2Rate(System.IntPtr)">
1712
            <summary>
1713
            Get the time derivative of hinge-2 angle 2
1714
            </summary>
1715
            <returns>A dReal</returns>
1716
            <param name="joint">A  dJointID</param>
1717
        </member>
1718
        <member name="M:Tao.Ode.Ode.dJointSetHinge2Param(System.IntPtr,Tao.Ode.Ode.dJointParams,System.Single)">
1719
             <summary>
1720
             Set limit/motor parameters for a hinge-2 joint
1721
            
1722
             See http://ode.org/ode-latest-userguide.html#sec_7_5_1 for details
1723
             </summary>
1724
             <param name="joint">A  dJointID</param>
1725
             <param name="parameter">An int</param>
1726
             <param name="value">A  dReal</param>
1727
        </member>
1728
        <member name="M:Tao.Ode.Ode.dJointGetHinge2Param(System.IntPtr,Tao.Ode.Ode.dJointParams)">
1729
             <summary>
1730
             Get limit/motor parameters for a hinge-2 joint
1731
            
1732
             See http://ode.org/ode-latest-userguide.html#sec_7_5_1 for details
1733
             </summary>
1734
             <returns>A dReal</returns>
1735
             <param name="joint">A  dJointID</param>
1736
             <param name="parameter">An int</param>
1737
        </member>
1738
        <member name="M:Tao.Ode.Ode.dJointAddHinge2Torques(System.IntPtr,System.Single,System.Single)">
1739
            <summary>
1740
            Applies torque1 about the hinge2's axis 1, and torque2 about the hinge2's axis 2.
1741
            This function is just a wrapper for dBodyAddTorque.
1742
            </summary>
1743
            <param name="joint">A  dJointID</param>
1744
            <param name="torque1">A  dReal</param>
1745
            <param name="torque2">A  dReal</param>
1746
        </member>
1747
        <member name="M:Tao.Ode.Ode.dJointSetUniversalAnchor(System.IntPtr,System.Single,System.Single,System.Single)">
1748
            <summary>
1749
            Set universal joint anchor parameters.
1750
            </summary>
1751
            <param name="joint">A  dJointID</param>
1752
            <param name="x">A  dReal</param>
1753
            <param name="y">A  dReal</param>
1754
            <param name="z">A  dReal</param>
1755
        </member>
1756
        <member name="M:Tao.Ode.Ode.dJointSetUniversalAxis1(System.IntPtr,System.Single,System.Single,System.Single)">
1757
             <summary>
1758
             Set universal joint axis 1 parameters
1759
            
1760
             Axis 1 and axis 2 should be perpendicular to each other.
1761
             </summary>
1762
             <param name="joint">A  dJointID</param>
1763
             <param name="x">A  dReal</param>
1764
             <param name="y">A  dReal</param>
1765
             <param name="z">A  dReal</param>
1766
        </member>
1767
        <member name="M:Tao.Ode.Ode.dJointSetUniversalAxis2(System.IntPtr,System.Single,System.Single,System.Single)">
1768
             <summary>
1769
             Set universal joint axis 2 parameters
1770
            
1771
             Axis 1 and axis 2 should be perpendicular to each other.
1772
             </summary>
1773
             <param name="joint">A  dJointID</param>
1774
             <param name="x">A  dReal</param>
1775
             <param name="y">A  dReal</param>
1776
             <param name="z">A  dReal</param>
1777
        </member>
1778
        <member name="M:Tao.Ode.Ode.dJointGetUniversalAnchor(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1779
            <summary>
1780
            Get the joint anchor point, in world coordinates.
1781
            This returns the point on body 1.
1782
            If the joint is perfectly satisfied, this will be the same as the point on body 2.
1783
            </summary>
1784
            <param name="joint">A  dJointID</param>
1785
            <param name="result">A  dVector3</param>
1786
        </member>
1787
        <member name="M:Tao.Ode.Ode.dJointGetUniversalAnchor2(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1788
            <summary>
1789
            Get the joint anchor point, in world coordinates.
1790
            This returns the point on body 2.
1791
            You can think of the ball and socket part of a universal joint as trying
1792
            to keep the result of dJointGetBallAnchor() and dJointGetBallAnchor2() the same.
1793
            If the joint is perfectly satisfied, this function will return the same value as
1794
            dJointGetUniversalAnchor to within roundoff errors.
1795
            dJointGetUniversalAnchor2 can be used, along with dJointGetUniversalAnchor, to
1796
            see how far the joint has come apart.
1797
            </summary>
1798
            <param name="joint">A  dJointID</param>
1799
            <param name="result">A  dVector3</param>
1800
        </member>
1801
        <member name="M:Tao.Ode.Ode.dJointGetUniversalAxis1(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1802
            <summary>
1803
            Get parameters for universal joint axis 1
1804
            </summary>
1805
            <param name="joint">A  dJointID</param>
1806
            <param name="result">A  dVector3</param>
1807
        </member>
1808
        <member name="M:Tao.Ode.Ode.dJointGetUniversalAxis2(System.IntPtr,Tao.Ode.Ode.dVector3@)">
1809
            <summary>
1810
            Get parameters for universal joint axis 2
1811
            </summary>
1812
            <param name="joint">A  dJointID</param>
1813
            <param name="result">A  dVector3</param>
1814
        </member>
1815
        <member name="M:Tao.Ode.Ode.dJointSetUniversalParam(System.IntPtr,Tao.Ode.Ode.dJointParams,System.Single)">
1816
             <summary>
1817
             Set limit/motor parameters for a universal joint
1818
            
1819
             See http://ode.org/ode-latest-userguide.html#sec_7_5_1 for details
1820
             </summary>
1821
             <param name="joint">A  dJointID</param>
1822
             <param name="parameter">An int</param>
1823
             <param name="value">A  dReal</param>
1824
        </member>
1825
        <member name="M:Tao.Ode.Ode.dJointGetUniversalParam(System.IntPtr,Tao.Ode.Ode.dJointParams)">
1826
             <summary>
1827
             Get limit/motor parameters for a universal joint
1828
            
1829
             See http://ode.org/ode-latest-userguide.html#sec_7_5_1 for details
1830
             </summary>
1831
             <returns>A dReal</returns>
1832
             <param name="joint">A  dJointID</param>
1833
             <param name="parameter">An int</param>
1834
        </member>
1835
        <member name="M:Tao.Ode.Ode.dJointAddUniversalTorques(System.IntPtr,System.Single,System.Single)">
1836
            <summary>
1837
            Applies torque1 about the universal's axis 1, and torque2 about the universal's axis 2.
1838
            </summary>
1839
            <remarks>
1840
            This function is just a wrapper for dBodyAddTorque.
1841
            </remarks>
1842
            <param name="joint">A  dJointID</param>
1843
            <param name="torque1">A  dReal</param>
1844
            <param name="torque2">A  dReal</param>
1845
        </member>
1846
        <member name="M:Tao.Ode.Ode.dJointGetUniversalAngle1(System.IntPtr)">
1847
             <summary>
1848
            
1849
             </summary>
1850
             <param name="joint"></param>
1851
             <returns></returns>
1852
        </member>
1853
        <member name="M:Tao.Ode.Ode.dJointGetUniversalAngle2(System.IntPtr)">
1854
             <summary>
1855
            
1856
             </summary>
1857
             <param name="joint"></param>
1858
             <returns></returns>
1859
        </member>
1860
        <member name="M:Tao.Ode.Ode.dJointGetUniversalAngle1Rate(System.IntPtr)">
1861
             <summary>
1862
            
1863
             </summary>
1864
             <param name="joint"></param>
1865
             <returns></returns>
1866
        </member>
1867
        <member name="M:Tao.Ode.Ode.dJointGetUniversalAngle2Rate(System.IntPtr)">
1868
             <summary>
1869
            
1870
             </summary>
1871
             <param name="joint"></param>
1872
             <returns></returns>
1873
        </member>
1874
        <member name="M:Tao.Ode.Ode.dJointSetFixed(System.IntPtr)">
1875
            <summary>
1876
            Call this on the fixed joint after it has been attached to remember the current desired
1877
            relative offset and desired relative rotation between the bodies.
1878
            </summary>
1879
            <remarks>
1880
            The fixed joint maintains a fixed relative position and orientation between two bodies,
1881
            or between a body and the static environment.
1882
            Using this joint is almost never a good idea in practice, except when debugging.
1883
            If you need two bodies to be glued together it is better to represent that as a single body.
1884
            </remarks>
1885
            <param name="joint">A  dJointID</param>
1886
        </member>
1887
        <member name="M:Tao.Ode.Ode.dJointSetAMotorMode(System.IntPtr,System.Int32)">
1888
            <summary>
1889
            Set the angular motor mode.
1890
            The mode parameter must be one of the following constants:
1891
            	dAMotorUser:	The AMotor axes and joint angle settings are entirely controlled by the user.
1892
            					This is the default mode.
1893
            	dAMotorEuler:	Euler angles are automatically computed.
1894
            					The axis a1 is also automatically computed.
1895
            					The AMotor axes must be set correctly when in this mode, as described below.
1896
            					When this mode is initially set the current relative orientations of the
1897
            					bodies will correspond to all euler angles at zero.
1898
            </summary>
1899
            <param name="joint">A  dJointID</param>
1900
            <param name="mode">An int</param>
1901
        </member>
1902
        <member name="M:Tao.Ode.Ode.dJointGetAMotorMode(System.IntPtr)">
1903
            <summary>
1904
            Get the angular motor mode.
1905
            The mode parameter will be one of the following constants:
1906
            	dAMotorUser:	The AMotor axes and joint angle settings are entirely controlled by the user.
1907
            					This is the default mode.
1908
            	dAMotorEuler:	Euler angles are automatically computed.
1909
            					The axis a1 is also automatically computed.
1910
            					The AMotor axes must be set correctly when in this mode, as described below.
1911
            					When this mode is initially set the current relative orientations of the
1912
            					bodies will correspond to all euler angles at zero.
1913
            </summary>
1914
            <returns>An int</returns>
1915
            <param name="joint">A  dJointID</param>
1916
        </member>
1917
        <member name="M:Tao.Ode.Ode.dJointSetAMotorNumAxes(System.IntPtr,System.Int32)">
1918
            <summary>
1919
            Set the number of angular axes that will be controlled by the AMotor.
1920
            The argument num can range from 0 (which effectively deactivates the joint) to 3.
1921
            This is automatically set to 3 in dAMotorEuler mode.
1922
            </summary>
1923
            <param name="joint">A  dJointID</param>
1924
            <param name="num">An int</param>
1925
        </member>
1926
        <member name="M:Tao.Ode.Ode.dJointGetAMotorNumAxes(System.IntPtr)">
1927
            <summary>
1928
            Get the number of angular axes controlled by the AMotor.
1929
            The number of axes can range from 0 (which effectively deactivates the joint) to 3.
1930
            This is automatically set to 3 in dAMotorEuler mode.
1931
            </summary>
1932
            <returns>An int</returns>
1933
            <param name="joint">A  dJointID</param>
1934
        </member>
1935
        <member name="M:Tao.Ode.Ode.dJointSetAMotorAxis(System.IntPtr,System.Int32,System.Int32,System.Single,System.Single,System.Single)">
1936
             <summary>
1937
             Set the AMotor axes.
1938
             The anum argument selects the axis to change (0,1 or 2).
1939
             Each axis can have one of three ``relative orientation'' modes, selected by rel:
1940
             	*	0: The axis is anchored to the global frame.
1941
            		*	1: The axis is anchored to the first body.
1942
            		*	2: The axis is anchored to the second body.
1943
            
1944
             The axis vector (x,y,z) is always specified in global coordinates regardless of the setting of rel.
1945
            
1946
             For dAMotorEuler mode:
1947
             	* Only axes 0 and 2 need to be set. Axis 1 will be determined automatically at each time step.
1948
            		* Axes 0 and 2 must be perpendicular to each other.
1949
            		* Axis 0 must be anchored to the first body, axis 2 must be anchored to the second body.
1950
             </summary>
1951
             <param name="joint">A  dJointID</param>
1952
             <param name="anum">An int</param>
1953
             <param name="rel">An int</param>
1954
             <param name="x">A  dReal</param>
1955
             <param name="y">A  dReal</param>
1956
             <param name="z">A  dReal</param>
1957
        </member>
1958
        <member name="M:Tao.Ode.Ode.dJointGetAMotorAxis(System.IntPtr,System.Int32,Tao.Ode.Ode.dVector3@)">
1959
            <summary>
1960
            Get the specified AMotor axis.
1961
            The anum argument selects the axis to get (0,1 or 2).
1962
            </summary>
1963
            <param name="joint">A  dJointID</param>
1964
            <param name="anum">An int</param>
1965
            <param name="result">A  dVector3</param>
1966
        </member>
1967
        <member name="M:Tao.Ode.Ode.dJointGetAMotorAxisRel(System.IntPtr,System.Int32)">
1968
            <summary>
1969
            Get the relative orientation mode for the specified axis
1970
            The anum argument selects the axis to get (0,1 or 2).
1971
            The return value will represent one of three ``relative orientation'' modes:
1972
            	*	0: The axis is anchored to the global frame.
1973
            	*	1: The axis is anchored to the first body.
1974
            	*	2: The axis is anchored to the second body.
1975
            </summary>
1976
            <returns>An int</returns>
1977
            <param name="joint">A  dJointID</param>
1978
            <param name="anum">An int</param>
1979
        </member>
1980
        <member name="M:Tao.Ode.Ode.dJointSetAMotorAngle(System.IntPtr,System.Int32,System.Single)">
1981
            <summary>
1982
            Tell the AMotor what the current angle is along axis anum.
1983
            This function should only be called in dAMotorUser mode, because in this mode
1984
            the AMotor has no other way of knowing the joint angles.
1985
            The angle information is needed if stops have been set along the axis,
1986
            but it is not needed for axis motors.
1987
            </summary>
1988
            <param name="joint">A  dJointID</param>
1989
            <param name="anum">An int</param>
1990
            <param name="angle">A  dReal</param>
1991
        </member>
1992
        <member name="M:Tao.Ode.Ode.dJointGetAMotorAngle(System.IntPtr,System.Int32)">
1993
            <summary>
1994
            Return the current angle for axis anum.
1995
            In dAMotorUser mode this is simply the value that was set with dJointSetAMotorAngle.
1996
            In dAMotorEuler mode this is the corresponding euler angle.
1997
            </summary>
1998
            <returns>A dReal</returns>
1999
            <param name="joint">A  dJointID</param>
2000
            <param name="anum">An int</param>
2001
        </member>
2002
        <member name="M:Tao.Ode.Ode.dJointGetAMotorAngleRate(System.IntPtr,System.Int32)">
2003
            <summary>
2004
            Return the current angle rate for axis anum.
2005
            In dAMotorUser mode this is always zero, as not enough information is available.
2006
            In dAMotorEuler mode this is the corresponding euler angle rate.
2007
            </summary>
2008
            <returns>A dReal</returns>
2009
            <param name="joint">A  dJointID</param>
2010
            <param name="anum">An int</param>
2011
        </member>
2012
        <member name="M:Tao.Ode.Ode.dJointSetAMotorParam(System.IntPtr,Tao.Ode.Ode.dJointParams,System.Single)">
2013
             <summary>
2014
             Set limit/motor parameters for a an angular motor joint
2015
            
2016
             See http://ode.org/ode-latest-userguide.html#sec_7_5_1 for details
2017
             </summary>
2018
             <param name="joint">A  dJointID</param>
2019
             <param name="parameter">An int</param>
2020
             <param name="value">A  dReal</param>
2021
        </member>
2022
        <member name="M:Tao.Ode.Ode.dJointGetAMotorParam(System.IntPtr,Tao.Ode.Ode.dJointParams)">
2023
             <summary>
2024
             Get limit/motor parameters for a an angular motor joint
2025
            
2026
             See http://ode.org/ode-latest-userguide.html#sec_7_5_1 for details
2027
             </summary>
2028
             <returns>A dReal</returns>
2029
             <param name="joint">A  dJointID</param>
2030
             <param name="parameter">An int</param>
2031
        </member>
2032
        <member name="M:Tao.Ode.Ode.dJointAddAMotorTorques(System.IntPtr,System.Single,System.Single,System.Single)">
2033
            <summary>
2034
            Applies torque0 about the AMotor's axis 0,
2035
            torque1 about the AMotor's axis 1,
2036
            and torque2 about the AMotor's axis 2.
2037
            If the motor has fewer than three axes, the higher torques are ignored.
2038
            </summary>
2039
            <remarks>
2040
            This function is just a wrapper for dBodyAddTorque.
2041
            </remarks>
2042
            <param name="joint">A  dJointID</param>
2043
            <param name="torque1">A  dReal</param>
2044
            <param name="torque2">A  dReal</param>
2045
            <param name="torque3">A  dReal</param>
2046
        </member>
2047
        <member name="M:Tao.Ode.Ode.dJointSetLMotorAxis(System.IntPtr,System.Int32,System.Int32,System.Single,System.Single,System.Single)">
2048
            <summary>
2049
            
2050
            </summary>
2051
            <param name="j"></param>
2052
            <param name="anum"></param>
2053
            <param name="rel"></param>
2054
            <param name="x"></param>
2055
            <param name="y"></param>
2056
            <param name="z"></param>
2057
        </member>
2058
        <member name="M:Tao.Ode.Ode.dJointSetLMotorNumAxes(System.IntPtr,System.Int32)">
2059
            <summary>
2060
            
2061
            </summary>
2062
            <param name="j"></param>
2063
            <param name="num"></param>
2064
        </member>
2065
        <member name="M:Tao.Ode.Ode.dJointSetLMotorParam(System.IntPtr,System.Int32,System.Single)">
2066
            <summary>
2067
            
2068
            </summary>
2069
            <param name="j"></param>
2070
            <param name="parameter"></param>
2071
            <param name="value"></param>
2072
        </member>
2073
        <member name="M:Tao.Ode.Ode.JointSetPlane2DAngleParam(System.IntPtr,System.Int32,System.Single)">
2074
            <summary>
2075
            
2076
            </summary>
2077
            <param name="j"></param>
2078
            <param name="parameter"></param>
2079
            <param name="value"></param>
2080
        </member>
2081
        <member name="M:Tao.Ode.Ode.dJointSetPlane2DXParam(System.IntPtr,System.Int32,System.Single)">
2082
            <summary>
2083
            
2084
            </summary>
2085
            <param name="j"></param>
2086
            <param name="parameter"></param>
2087
            <param name="value"></param>
2088
        </member>
2089
        <member name="M:Tao.Ode.Ode.dJointSetPlane2DYParam(System.IntPtr,System.Int32,System.Single)">
2090
            <summary>
2091
            
2092
            </summary>
2093
            <param name="j"></param>
2094
            <param name="parameter"></param>
2095
            <param name="value"></param>
2096
        </member>
2097
        <member name="M:Tao.Ode.Ode.dJointSetPRAnchor(System.IntPtr,System.Single,System.Single,System.Single)">
2098
            <summary>
2099
            
2100
            </summary>
2101
            <param name="j"></param>
2102
            <param name="x"></param>
2103
            <param name="y"></param>
2104
            <param name="z"></param>
2105
        </member>
2106
        <member name="M:Tao.Ode.Ode.dJointSetPRAxis1(System.IntPtr,System.Single,System.Single,System.Single)">
2107
            <summary>
2108
            
2109
            </summary>
2110
            <param name="j"></param>
2111
            <param name="x"></param>
2112
            <param name="y"></param>
2113
            <param name="z"></param>
2114
        </member>
2115
        <member name="M:Tao.Ode.Ode.dJointSetPRAxis2(System.IntPtr,System.Single,System.Single,System.Single)">
2116
            <summary>
2117
            
2118
            </summary>
2119
            <param name="j"></param>
2120
            <param name="x"></param>
2121
            <param name="y"></param>
2122
            <param name="z"></param>
2123
        </member>
2124
        <member name="M:Tao.Ode.Ode.dJointSetPRParam(System.IntPtr,System.Int32,System.Single)">
2125
            <summary>
2126
            
2127
            </summary>
2128
            <param name="j"></param>
2129
            <param name="parameter"></param>
2130
            <param name="value"></param>
2131
        </member>
2132
        <member name="M:Tao.Ode.Ode.dJointGetLMotorAxis(System.IntPtr,System.Int32,Tao.Ode.Ode.dVector3@)">
2133
            <summary>
2134
            
2135
            </summary>
2136
            <param name="j"></param>
2137
            <param name="anum"></param>
2138
            <param name="result"></param>
2139
        </member>
2140
        <member name="M:Tao.Ode.Ode.dJointGetLMotorNumAxes(System.IntPtr)">
2141
            <summary>
2142
            
2143
            </summary>
2144
            <param name="j"></param>
2145
            <returns></returns>
2146
        </member>
2147
        <member name="M:Tao.Ode.Ode.dJointGetLMotorParam(System.IntPtr,System.Int32)">
2148
            <summary>
2149
            
2150
            </summary>
2151
            <param name="j"></param>
2152
            <param name="parameter"></param>
2153
            <returns></returns>
2154
        </member>
2155
        <member name="M:Tao.Ode.Ode.dJointGetPRAnchor(System.IntPtr,Tao.Ode.Ode.dVector3@)">
2156
            <summary>
2157
            
2158
            </summary>
2159
            <param name="j"></param>
2160
            <param name="result"></param>
2161
        </member>
2162
        <member name="M:Tao.Ode.Ode.dJointGetPRAxis1(System.IntPtr,Tao.Ode.Ode.dVector3@)">
2163
            <summary>
2164
            
2165
            </summary>
2166
            <param name="j"></param>
2167
            <param name="result"></param>
2168
        </member>
2169
        <member name="M:Tao.Ode.Ode.dJointGetPRAxis2(System.IntPtr,Tao.Ode.Ode.dVector3@)">
2170
            <summary>
2171
            
2172
            </summary>
2173
            <param name="j"></param>
2174
            <param name="result"></param>
2175
        </member>
2176
        <member name="M:Tao.Ode.Ode.dJointGetPRParam(System.IntPtr,System.Int32)">
2177
            <summary>
2178
            
2179
            </summary>
2180
            <param name="j"></param>
2181
            <param name="parameter"></param>
2182
            <returns></returns>
2183
        </member>
2184
        <member name="M:Tao.Ode.Ode.dJointGetPRPosition(System.IntPtr)">
2185
            <summary>
2186
            
2187
            </summary>
2188
            <param name="j"></param>
2189
            <returns></returns>
2190
        </member>
2191
        <member name="M:Tao.Ode.Ode.dJointGetUniversalAngles(System.IntPtr,System.Single@,System.Single@)">
2192
            <summary>
2193
            
2194
            </summary>
2195
            <param name="j"></param>
2196
            <param name="angle1"></param>
2197
            <param name="angle2"></param>
2198
        </member>
2199
        <member name="M:Tao.Ode.Ode.dJointGetPRPositionRate(System.IntPtr)">
2200
            <summary>
2201
            
2202
            </summary>
2203
            <param name="j"></param>
2204
            <returns></returns>
2205
        </member>
2206
        <member name="M:Tao.Ode.Ode.dMassSetZero(Tao.Ode.Ode.dMass@)">
2207
            <summary>
2208
            Set all the mass parameters to zero
2209
            </summary>
2210
            <param name="mass">A reference to a dMass</param>
2211
        </member>
2212
        <member name="M:Tao.Ode.Ode.dMassSetParameters(Tao.Ode.Ode.dMass@,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
2213
            <summary>
2214
            Set the mass parameters to the given values.
2215
            </summary>
2216
            <remarks>
2217
            The inertia matrix looks like this:
2218
                [ I11 I12 I13 ]
2219
                [ I12 I22 I23 ]
2220
                [ I13 I23 I33 ]
2221
            </remarks>
2222
            <param name="mass">A reference to a dMass</param>
2223
            <param name="themass">the mass of the body</param>
2224
            <param name="cgx">the x coordinate for the center of gravity position in the body frame</param>
2225
            <param name="cgy">the y coordinate for the center of gravity position in the body frame</param>
2226
            <param name="cgz">the z coordinate for the center of gravity position in the body frame</param>
2227
            <param name="I11">An element of the inertia matrix</param>
2228
            <param name="I22">An element of the inertia matrix</param>
2229
            <param name="I33">An element of the inertia matrix</param>
2230
            <param name="I12">An element of the inertia matrix</param>
2231
            <param name="I13">An element of the inertia matrix</param>
2232
            <param name="I23">An element of the inertia matrix</param>
2233
        </member>
2234
        <member name="M:Tao.Ode.Ode.dMassSetSphere(Tao.Ode.Ode.dMass@,System.Single,System.Single)">
2235
            <summary>
2236
            Set the mass parameters to represent a sphere of the given radius and density, with
2237
            the center of mass at (0,0,0) relative to the body.
2238
            </summary>
2239
            <param name="mass">the mass to set</param>
2240
            <param name="density">the density of the sphere</param>
2241
            <param name="radius">the radius of the sphere</param>
2242
        </member>
2243
        <member name="M:Tao.Ode.Ode.dMassSetSphereTotal(Tao.Ode.Ode.dMass@,System.Single,System.Single)">
2244
            <summary>
2245
            Set the mass parameters to represent a sphere of the given total mass and radius, with
2246
            the center of mass at (0,0,0) relative to the body.
2247
            </summary>
2248
            <param name="mass">the mass to set</param>
2249
            <param name="total_mass">the total mass of the sphere</param>
2250
            <param name="radius">the radius of the sphere</param>
2251
        </member>
2252
        <member name="M:Tao.Ode.Ode.dMassSetCapsule(Tao.Ode.Ode.dMass@,System.Single,System.Int32,System.Single,System.Single)">
2253
            <summary>
2254
            Set the mass parameters to represent a capsule of the given parameters and density, with
2255
            the center of mass at (0,0,0) relative to the body.
2256
            </summary>
2257
            <remarks>
2258
            The cylinder's long axis is oriented along the body's x, y or z axis according to the value of direction (1=x, 2=y, 3=z).
2259
            </remarks>
2260
            <param name="mass">the mass to set</param>
2261
            <param name="density">The density of the capsule</param>
2262
            <param name="direction">The orientation of the cylinder's long axis (1=x, 2=y, 3=z)</param>
2263
            <param name="radius">The radius of the cylinder (and the spherical cap)</param>
2264
            <param name="length">The length of the cylinder (not counting the spherical cap)</param>
2265
        </member>
2266
        <member name="M:Tao.Ode.Ode.dMassSetCapsuleTotal(Tao.Ode.Ode.dMass@,System.Single,System.Int32,System.Single,System.Single)">
2267
            <summary>
2268
            Set the mass parameters to represent a capsule of the given parameters and total mass, with
2269
            the center of mass at (0,0,0) relative to the body.
2270
            </summary>
2271
            <remarks>
2272
            The capsule's long axis is oriented along the body's x, y or z axis according to the value of direction (1=x, 2=y, 3=z).
2273
            </remarks>
2274
            <param name="mass">the mass to set</param>
2275
            <param name="total_mass">The total mass of the capsule</param>
2276
            <param name="direction">The orientation of the capsule's long axis (1=x, 2=y, 3=z)</param>
2277
            <param name="radius">The radius of the capsule (and the spherical cap)</param>
2278
            <param name="length">The length of the capsule (not counting the spherical cap)</param>
2279
        </member>
2280
        <member name="M:Tao.Ode.Ode.dMassSetCylinder(Tao.Ode.Ode.dMass@,System.Single,System.Int32,System.Single,System.Single)">
2281
            <summary>
2282
            Set the mass parameters to represent a flat-ended cylinder of the given parameters and density, with
2283
            the center of mass at (0,0,0) relative to the body.
2284
            </summary>
2285
            <remarks>
2286
            The cylinder's long axis is oriented along the body's x, y or z axis according to the value of direction (1=x, 2=y, 3=z).
2287
            </remarks>
2288
            <param name="mass">the mass to set</param>
2289
            <param name="density">the density of the cylinder</param>
2290
            <param name="direction">the orientation of the cylinder</param>
2291
            <param name="radius">The radius of the cylinder</param>
2292
            <param name="length">The length of the cylinder</param>
2293
        </member>
2294
        <member name="M:Tao.Ode.Ode.dMassSetCylinderTotal(Tao.Ode.Ode.dMass@,System.Single,System.Int32,System.Single,System.Single)">
2295
            <summary>
2296
            Set the mass parameters to represent a flat-ended cylinder of the given parameters and total mass, with
2297
            the center of mass at (0,0,0) relative to the body.
2298
            </summary>
2299
            <remarks>
2300
            The cylinder's long axis is oriented along the body's x, y or z axis according to the value of direction (1=x, 2=y, 3=z).
2301
            </remarks>
2302
            <param name="mass">the mass to set</param>
2303
            <param name="total_mass">the total mass of the cylinder</param>
2304
            <param name="direction">the orientation of the cylinder</param>
2305
            <param name="radius">The radius of the cylinder</param>
2306
            <param name="length">The length of the cylinder</param>
2307
        </member>
2308
        <member name="M:Tao.Ode.Ode.dMassSetBox(Tao.Ode.Ode.dMass@,System.Single,System.Single,System.Single,System.Single)">
2309
            <summary>
2310
            Set the mass parameters to represent a box of the given dimensions and density, with
2311
            the center of mass at (0,0,0) relative to the body.
2312
            </summary>
2313
            <param name="mass">the mass to set</param>
2314
            <param name="density">The density of the box</param>
2315
            <param name="lx">The side length of the box along the x axis</param>
2316
            <param name="ly">The side length of the box along the y axis</param>
2317
            <param name="lz">The side length of the box along the z axis</param>
2318
        </member>
2319
        <member name="M:Tao.Ode.Ode.dMassSetBoxTotal(Tao.Ode.Ode.dMass@,System.Single,System.Single,System.Single,System.Single)">
2320
            <summary>
2321
            Set the mass parameters to represent a box of the given dimensions and total mass, with
2322
            the center of mass at (0,0,0) relative to the body.
2323
            </summary>
2324
            <param name="mass">the mass to set</param>
2325
            <param name="total_mass">The total mass of the box</param>
2326
            <param name="lx">The side length of the box along the x axis</param>
2327
            <param name="ly">The side length of the box along the y axis</param>
2328
            <param name="lz">The side length of the box along the z axis</param>
2329
        </member>
2330
        <member name="M:Tao.Ode.Ode.dMassAdjust(Tao.Ode.Ode.dMass@,System.Single)">
2331
            <summary>
2332
            Given mass parameters for some object, adjust them so the total mass is now newmass
2333
            </summary>
2334
            <remarks>
2335
            This is useful when using the "mass set" functions to set the mass parameters for
2336
            certain objects - they take the object density, not the total mass.
2337
            </remarks>
2338
            <param name="mass">the mass parameters to adjust</param>
2339
            <param name="newmass">the new total mass</param>
2340
        </member>
2341
        <member name="M:Tao.Ode.Ode.dMassTranslate(Tao.Ode.Ode.dMass@,System.Single,System.Single,System.Single)">
2342
            <summary>
2343
            Given mass parameters for some object, adjust them to represent the object displaced
2344
            by (x,y,z) relative to the body frame.
2345
            </summary>
2346
            <param name="mass">the mass parameters to translate</param>
2347
            <param name="x">The displacement along the x axis</param>
2348
            <param name="y">The displacement along the y axis</param>
2349
            <param name="z">The displacement along the z axis</param>
2350
        </member>
2351
        <member name="M:Tao.Ode.Ode.dMassRotate(Tao.Ode.Ode.dMass@,System.Single[])">
2352
            <summary>
2353
            Given mass parameters for some object, adjust them to represent the object rotated by R relative to the body frame.
2354
            </summary>
2355
            <param name="mass">the mass to rotate</param>
2356
            <param name="R">An array of 12 elements containing a 3x4 rotation matrix</param>
2357
        </member>
2358
        <member name="M:Tao.Ode.Ode.dMassRotate(Tao.Ode.Ode.dMass@,Tao.Ode.Ode.dMatrix3)">
2359
            <summary>
2360
            Given mass parameters for some object, adjust them to represent the object rotated by R relative to the body frame.
2361
            </summary>
2362
            <param name="mass">A  dMass</param>
2363
            <param name="R">A  dMatrix3</param>
2364
        </member>
2365
        <member name="M:Tao.Ode.Ode.dMassAdd(Tao.Ode.Ode.dMass@,Tao.Ode.Ode.dMass)">
2366
            <summary>
2367
            Add the mass b to the mass a.
2368
            </summary>
2369
            <remarks>
2370
            mass a is modified to represent the combined mass
2371
            </remarks>
2372
            <param name="a">id of mass a</param>
2373
            <param name="b">id of mass b</param>
2374
        </member>
2375
        <member name="M:Tao.Ode.Ode.dMassSetTrimesh(Tao.Ode.Ode.dMass@,System.Single,System.IntPtr)">
2376
            <summary>
2377
            
2378
            </summary>
2379
            <param name="mass"></param>
2380
            <param name="density"></param>
2381
            <param name="g"></param>
2382
        </member>
2383
        <member name="M:Tao.Ode.Ode.dGeomDestroy(System.IntPtr)">
2384
            <summary>
2385
            Destroy a geom, removing it from any space it is in first.
2386
            This one function destroys a geom of any type, but to create a geom you
2387
            must call a creation function for that type.
2388
            When a space is destroyed, if its cleanup mode is 1 (the default) then
2389
            all the geoms in that space are automatically destroyed as well.
2390
            </summary>
2391
            <param name="geom">A  dGeomID</param>
2392
        </member>
2393
        <member name="M:Tao.Ode.Ode.dGeomSetData(System.IntPtr,System.IntPtr)">
2394
             <summary>
2395
             Set the user-defined data pointer stored in the geom.
2396
            
2397
             WARNING: It is unclear from the ODE source and the documentation what the nature of
2398
             user-data is.
2399
             This function is here for the sake of completeness because it is part of ODE's public API, but
2400
             has NOT been tested in any way.
2401
            
2402
             Use at own risk.
2403
             </summary>
2404
             <param name="geom">A  dGeomID</param>
2405
             <param name="data">An IntPtr</param>
2406
        </member>
2407
        <member name="M:Tao.Ode.Ode.dGeomGetData(System.IntPtr)">
2408
             <summary>
2409
             Get the user-defined data pointer stored in the geom.
2410
            
2411
             WARNING: It is unclear from the ODE source and the documentation what the nature of
2412
             user-data is.
2413
             This function is here for the sake of completeness because it is part of ODE's public API, but
2414
             has NOT been tested in any way.
2415
            
2416
             Use at own risk.
2417
             </summary>
2418
             <returns>A void*</returns>
2419
             <param name="geom">A  dGeomID</param>
2420
        </member>
2421
        <member name="M:Tao.Ode.Ode.dGeomSetBody(System.IntPtr,System.IntPtr)">
2422
             <summary>
2423
             Set the body associated with a placeable geom.
2424
            
2425
             Setting a body on a geom automatically combines the position vector and
2426
             rotation matrix of the body and geom, so that setting the position or
2427
             orientation of one will set the value for both objects.
2428
             Setting a body ID of zero gives the geom its own position and rotation,
2429
             independent from any body.
2430
             If the geom was previously connected to a body then its new independent
2431
             position/rotation is set to the current position/rotation of the body.
2432
            
2433
             Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
2434
             </summary>
2435
             <param name="geom">A  dGeomID</param>
2436
             <param name="body">A  dBodyID</param>
2437
        </member>
2438
        <member name="M:Tao.Ode.Ode.dGeomGetBody(System.IntPtr)">
2439
            <summary>
2440
            Get the body associated with a placeable geom.
2441
            </summary>
2442
            <returns>A dBodyID</returns>
2443
            <param name="geom">A dGeomID</param>
2444
        </member>
2445
        <member name="M:Tao.Ode.Ode.dGeomSetPosition(System.IntPtr,System.Single,System.Single,System.Single)">
2446
             <summary>
2447
             Set the position vector of a placeable geom.
2448
            
2449
             This function is analogous to dBodySetPosition.
2450
            
2451
             If the geom is attached to a body, the body's position will also be changed.
2452
            
2453
             Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
2454
             </summary>
2455
             <param name="geom">dGeomID of the geom to set</param>
2456
             <param name="x">the new X coordinate</param>
2457
             <param name="y">the new Y coordinate</param>
2458
             <param name="z">the new Z coordinate</param>
2459
        </member>
2460
        <member name="M:Tao.Ode.Ode.dGeomSetRotation(System.IntPtr,System.Single[])">
2461
             <summary>
2462
             Set the rotation matrix of a placeable geom.
2463
            
2464
             This function is analogous to dBodySetRotation.
2465
            
2466
             If the geom is attached to a body, the body's rotation will also be changed.
2467
            
2468
             Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
2469
             </summary>
2470
             <param name="geom">the geom to set</param>
2471
             <param name="R">An array of 12 elements containing the new 3x4 rotation matrix</param>
2472
        </member>
2473
        <member name="M:Tao.Ode.Ode.dGeomSetRotation(System.IntPtr,Tao.Ode.Ode.dMatrix3)">
2474
             <summary>
2475
             Set the rotation matrix of a placeable geom.
2476
            
2477
             This function is analogous to dBodySetRotation.
2478
            
2479
             If the geom is attached to a body, the body's rotation will also be changed.
2480
            
2481
             Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
2482
             </summary>
2483
             <param name="geom">the geom to set</param>
2484
             <param name="R">dMatrix3 containing the new rotation matrix</param>
2485
        </member>
2486
        <member name="M:Tao.Ode.Ode.dGeomSetQuaternion(System.IntPtr,Tao.Ode.Ode.dQuaternion)">
2487
             <summary>
2488
             Set the rotation of a placeable geom.
2489
            
2490
             This function is analogous to dBodySetQuaternion.
2491
            
2492
             If the geom is attached to a body, the body's rotation will also be changed.
2493
            
2494
             Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
2495
             </summary>
2496
             <param name="geom">the geom to set</param>
2497
             <param name="q">the new rotation</param>
2498
        </member>
2499
        <member name="M:Tao.Ode.Ode.dGeomSetQuaternion(System.IntPtr,System.Single@)">
2500
            <summary>
2501
            
2502
            </summary>
2503
            <param name="geom"></param>
2504
            <param name="w"></param>
2505
        </member>
2506
        <member name="M:Tao.Ode.Ode.dGeomGetPosition_(System.IntPtr)">
2507
            <summary>
2508
            
2509
            </summary>
2510
            <param name="geom"></param>
2511
            <returns></returns>
2512
        </member>
2513
        <member name="M:Tao.Ode.Ode.dGeomGetPosition(System.IntPtr)">
2514
             <summary>
2515
             Return the geom's position vector.
2516
            
2517
             In native ODE, the returned values are pointers to internal data
2518
             structures, so the vectors are valid until any changes are made to the
2519
             geom.
2520
            
2521
             If the geom is attached to a body, the body's position vector will be
2522
             returned, i.e. the result will be identical to calling dBodyGetPosition
2523
            
2524
             dGeomGetQuaternion copies the geom's quaternion into the space provided.
2525
             If the geom is attached to a body, the body's quaternion will be returned,
2526
             i.e. the resulting quaternion will be the same as the result of calling dBodyGetQuaternion.
2527
            
2528
             Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
2529
             </summary>
2530
             <returns>the geom's position vector</returns>
2531
             <param name="geom">the geom to query</param>
2532
        </member>
2533
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildByte(System.IntPtr,System.Byte[],System.Int32,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2534
            <summary>
2535
            
2536
            </summary>
2537
            <param name="d"></param>
2538
            <param name="pHeightData"></param>
2539
            <param name="bCopyHeightData"></param>
2540
            <param name="width"></param>
2541
            <param name="depth"></param>
2542
            <param name="widthSamples"></param>
2543
            <param name="depthSamples"></param>
2544
            <param name="scale"></param>
2545
            <param name="offset"></param>
2546
            <param name="thickness"></param>
2547
            <param name="bWrap"></param>
2548
        </member>
2549
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildByte(System.IntPtr,System.IntPtr,System.Int32,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2550
            <summary>
2551
            
2552
            </summary>
2553
            <param name="d"></param>
2554
            <param name="pHeightData"></param>
2555
            <param name="bCopyHeightData"></param>
2556
            <param name="width"></param>
2557
            <param name="depth"></param>
2558
            <param name="widthSamples"></param>
2559
            <param name="depthSamples"></param>
2560
            <param name="scale"></param>
2561
            <param name="offset"></param>
2562
            <param name="thickness"></param>
2563
            <param name="bWrap"></param>
2564
        </member>
2565
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildCallback(System.IntPtr,System.IntPtr,Tao.Ode.Ode.dHeightfieldGetHeight,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2566
            <summary>
2567
            
2568
            </summary>
2569
            <param name="d"></param>
2570
            <param name="pUserData"></param>
2571
            <param name="pCallback"></param>
2572
            <param name="width"></param>
2573
            <param name="depth"></param>
2574
            <param name="widthSamples"></param>
2575
            <param name="depthSamples"></param>
2576
            <param name="scale"></param>
2577
            <param name="offset"></param>
2578
            <param name="thickness"></param>
2579
            <param name="bWrap"></param>
2580
        </member>
2581
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildShort(System.IntPtr,System.UInt16[],System.Int32,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2582
            <summary>
2583
            
2584
            </summary>
2585
            <param name="d"></param>
2586
            <param name="pHeightData"></param>
2587
            <param name="bCopyHeightData"></param>
2588
            <param name="width"></param>
2589
            <param name="depth"></param>
2590
            <param name="widthSamples"></param>
2591
            <param name="depthSamples"></param>
2592
            <param name="scale"></param>
2593
            <param name="offset"></param>
2594
            <param name="thickness"></param>
2595
            <param name="bWrap"></param>
2596
        </member>
2597
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildShort(System.IntPtr,System.Int16[],System.Int32,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2598
            <summary>
2599
            
2600
            </summary>
2601
            <param name="d"></param>
2602
            <param name="pHeightData"></param>
2603
            <param name="bCopyHeightData"></param>
2604
            <param name="width"></param>
2605
            <param name="depth"></param>
2606
            <param name="widthSamples"></param>
2607
            <param name="depthSamples"></param>
2608
            <param name="scale"></param>
2609
            <param name="offset"></param>
2610
            <param name="thickness"></param>
2611
            <param name="bWrap"></param>
2612
        </member>
2613
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildShort(System.IntPtr,System.IntPtr,System.Int32,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2614
            <summary>
2615
            
2616
            </summary>
2617
            <param name="d"></param>
2618
            <param name="pHeightData"></param>
2619
            <param name="bCopyHeightData"></param>
2620
            <param name="width"></param>
2621
            <param name="depth"></param>
2622
            <param name="widthSamples"></param>
2623
            <param name="depthSamples"></param>
2624
            <param name="scale"></param>
2625
            <param name="offset"></param>
2626
            <param name="thickness"></param>
2627
            <param name="bWrap"></param>
2628
        </member>
2629
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildSingle(System.IntPtr,System.Single[],System.Int32,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2630
            <summary>
2631
            
2632
            </summary>
2633
            <param name="d"></param>
2634
            <param name="pHeightData"></param>
2635
            <param name="bCopyHeightData"></param>
2636
            <param name="width"></param>
2637
            <param name="depth"></param>
2638
            <param name="widthSamples"></param>
2639
            <param name="depthSamples"></param>
2640
            <param name="scale"></param>
2641
            <param name="offset"></param>
2642
            <param name="thickness"></param>
2643
            <param name="bWrap"></param>
2644
        </member>
2645
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildSingle(System.IntPtr,System.IntPtr,System.Int32,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2646
            <summary>
2647
            
2648
            </summary>
2649
            <param name="d"></param>
2650
            <param name="pHeightData"></param>
2651
            <param name="bCopyHeightData"></param>
2652
            <param name="width"></param>
2653
            <param name="depth"></param>
2654
            <param name="widthSamples"></param>
2655
            <param name="depthSamples"></param>
2656
            <param name="scale"></param>
2657
            <param name="offset"></param>
2658
            <param name="thickness"></param>
2659
            <param name="bWrap"></param>
2660
        </member>
2661
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildDouble(System.IntPtr,System.Double[],System.Int32,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2662
            <summary>
2663
            
2664
            </summary>
2665
            <param name="d"></param>
2666
            <param name="pHeightData"></param>
2667
            <param name="bCopyHeightData"></param>
2668
            <param name="width"></param>
2669
            <param name="depth"></param>
2670
            <param name="widthSamples"></param>
2671
            <param name="depthSamples"></param>
2672
            <param name="scale"></param>
2673
            <param name="offset"></param>
2674
            <param name="thickness"></param>
2675
            <param name="bWrap"></param>
2676
        </member>
2677
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataBuildDouble(System.IntPtr,System.IntPtr,System.Int32,System.Single,System.Single,System.Int32,System.Int32,System.Single,System.Single,System.Single,System.Int32)">
2678
            <summary>
2679
            
2680
            </summary>
2681
            <param name="d"></param>
2682
            <param name="pHeightData"></param>
2683
            <param name="bCopyHeightData"></param>
2684
            <param name="width"></param>
2685
            <param name="depth"></param>
2686
            <param name="widthSamples"></param>
2687
            <param name="depthSamples"></param>
2688
            <param name="scale"></param>
2689
            <param name="offset"></param>
2690
            <param name="thickness"></param>
2691
            <param name="bWrap"></param>
2692
        </member>
2693
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataCreate">
2694
            <summary>
2695
            
2696
            </summary>
2697
            <returns></returns>
2698
        </member>
2699
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataDestroy(System.IntPtr)">
2700
            <summary>
2701
            
2702
            </summary>
2703
            <param name="d"></param>
2704
        </member>
2705
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldDataSetBounds(System.IntPtr,System.Single,System.Single)">
2706
            <summary>
2707
            
2708
            </summary>
2709
            <param name="d"></param>
2710
            <param name="minHeight"></param>
2711
            <param name="maxHeight"></param>
2712
        </member>
2713
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldGetHeightfieldData(System.IntPtr)">
2714
            <summary>
2715
            
2716
            </summary>
2717
            <param name="g"></param>
2718
            <returns></returns>
2719
        </member>
2720
        <member name="M:Tao.Ode.Ode.dGeomHeightfieldSetHeightfieldData(System.IntPtr,System.IntPtr)">
2721
            <summary>
2722
            
2723
            </summary>
2724
            <param name="g"></param>
2725
            <param name="d"></param>
2726
        </member>
2727
        <member name="M:Tao.Ode.Ode.dGeomGetRotation_(System.IntPtr)">
2728
            <summary>
2729
            
2730
            </summary>
2731
            <param name="geom"></param>
2732
            <returns></returns>
2733
        </member>
2734
        <member name="M:Tao.Ode.Ode.dGeomGetRotation(System.IntPtr)">
2735
             <summary>
2736
             Get the rotation matrix of a placeable geom.
2737
            
2738
             In native ODE, the returned values are pointers to internal data
2739
             structures, so the matrices are valid until any changes are made to the
2740
             geom.
2741
            
2742
             If the geom is attached to a body, the body's rotation matrix will be
2743
             returned, i.e. the result will be identical to calling dBodyGetRotation.
2744
            
2745
             Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
2746
             </summary>
2747
             <returns>the geom's rotation matrix</returns>
2748
             <param name="geom">the geom to query</param>
2749
        </member>
2750
        <member name="M:Tao.Ode.Ode.dGeomGetQuaternion(System.IntPtr,Tao.Ode.Ode.dQuaternion@)">
2751
             <summary>
2752
             Get the rotation quaternion of a placeable geom.
2753
            
2754
             dGeomGetQuaternion copies the geom's quaternion into the structure provided.
2755
            
2756
             If the geom is attached to a body, the body's quaternion will be returned,
2757
             i.e. the resulting quaternion will be the same as the result of calling dBodyGetQuaternion.
2758
            
2759
             Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
2760
             </summary>
2761
             <param name="geom">the geom to query</param>
2762
             <param name="result">a copy of the rotation quaternion.</param>
2763
        </member>
2764
        <member name="M:Tao.Ode.Ode.dGeomGetAABB(System.IntPtr,Tao.Ode.Ode.Aabb@)">
2765
             <summary>
2766
             Return in aabb an axis aligned bounding box that surrounds the given geom.
2767
            
2768
             The aabb array has elements (minx, maxx, miny, maxy, minz, maxz).
2769
            
2770
             If the geom is a space, a bounding box that surrounds all contained geoms is returned.
2771
            
2772
             This function may return a pre-computed cached bounding box, if it can
2773
             determine that the geom has not moved since the last time the bounding box was computed.
2774
             </summary>
2775
             <param name="geom">the geom to query</param>
2776
             <param name="aabb">the returned bounding box</param>
2777
        </member>
2778
        <member name="M:Tao.Ode.Ode.dGeomGetAABB(System.IntPtr,System.Single@)">
2779
            <summary>
2780
            
2781
            </summary>
2782
            <param name="geom"></param>
2783
            <param name="minX"></param>
2784
        </member>
2785
        <member name="M:Tao.Ode.Ode.dGeomIsSpace(System.IntPtr)">
2786
            <summary>
2787
            Determine if a geom is a space.
2788
            </summary>
2789
            <returns>An int, non-zero if the given geom is a space, zero otherwise.</returns>
2790
            <param name="geom">The geom to query</param>
2791
        </member>
2792
        <member name="M:Tao.Ode.Ode.dGeomGetSpace(System.IntPtr)">
2793
            <summary>
2794
            Query for the space containing the specified geom.
2795
            </summary>
2796
            <returns>The space containing the geom, or NULL if the geom is not contained by a space.</returns>
2797
            <param name="geom">the geom to query</param>
2798
        </member>
2799
        <member name="M:Tao.Ode.Ode.dGeomGetClass(System.IntPtr)">
2800
             <summary>
2801
             Given a geom, this returns its class number. The standard class numbers are:
2802
            		dSphereClass  			Sphere
2803
            		dBoxClass  				Box
2804
            		dCylinderClass  		Regular flat-ended cylinder
2805
            		dCapsuleClass			Capped cylinder
2806
            		dPlaneClass  			Infinite plane (non-placeable)
2807
            		dRayClass  				Ray
2808
            		dConvexClass			Convex class
2809
            		dGeomTransformClass 	Geometry transform
2810
            		dTriMeshClass  			Triangle mesh
2811
            		dSimpleSpaceClass  		Simple space
2812
            		dHashSpaceClass  		Hash table based space
2813
            		dQuadTreeSpaceClass		Quad-tree based space
2814
            		dFirstUserClass			First user class
2815
            		dLastUserClass			Last user class
2816
            
2817
             User defined classes will return their own numbers.
2818
             </summary>
2819
             <returns>The geom class ID.</returns>
2820
             <param name="geom">the geom to query</param>
2821
        </member>
2822
        <member name="M:Tao.Ode.Ode.dGeomSetCategoryBits(System.IntPtr,System.UInt64)">
2823
             <summary>
2824
             Set the "category" bitfield for the given geom.
2825
             This bitfield is used by spaces to govern which geoms will interact
2826
             with each other.
2827
            
2828
             The bitfield is guaranteed to be at least 32 bits wide.
2829
            
2830
             The default category and collide values for newly created geoms have all bits set.
2831
            
2832
             Note this is NOT CLS-compliant (due to the use of ulong to hold the 32-bit bitfield)
2833
             TODO: Implement a CLS-compliant work-around or justify why not
2834
             </summary>
2835
             <param name="geom">the geom to set</param>
2836
             <param name="bits">the new bitfield value</param>
2837
        </member>
2838
        <member name="M:Tao.Ode.Ode.dGeomSetCollideBits(System.IntPtr,System.UInt64)">
2839
             <summary>
2840
             Set the "collide" bitfield for the given geom.
2841
            
2842
             This bitfield is used by spaces to govern which geoms will interact
2843
             with each other.
2844
            
2845
             The bitfield is guaranteed to be at least 32 bits wide.
2846
            
2847
             The default category and collide values for newly created geoms have all bits set.
2848
            
2849
             Note this is NOT CLS-compliant (due to the use of ulong to hold the 32-bit bitfield)
2850
             TODO: Implement a CLS-compliant work-around or justify why not
2851
             </summary>
2852
             <param name="geom">the geom to set</param>
2853
             <param name="bits">the new bitfield value</param>
2854
        </member>
2855
        <member name="M:Tao.Ode.Ode.dGeomGetCategoryBits(System.IntPtr)">
2856
             <summary>
2857
             Get the "category" bitfield for the given geom.
2858
             This bitfield is used by spaces to govern which geoms will interact
2859
             with each other.
2860
            
2861
             The bitfield is guaranteed to be at least 32 bits wide.
2862
            
2863
             The default category and collide values for newly created geoms have all bits set.
2864
            
2865
             Note this is NOT CLS-compliant (due to the use of ulong to hold the 32-bit bitfield)
2866
             TODO: Implement a CLS-compliant work-around or justify why not
2867
             </summary>
2868
             <returns>the current bitfield value</returns>
2869
             <param name="geom">the geom to query</param>
2870
        </member>
2871
        <member name="M:Tao.Ode.Ode.dGeomGetCollideBits(System.IntPtr)">
2872
             <summary>
2873
             Get the "collide" bitfield for the given geom.
2874
             This bitfield is used by spaces to govern which geoms will interact
2875
             with each other.
2876
            
2877
             The bitfield is guaranteed to be at least 32 bits wide.
2878
            
2879
             The default category and collide values for newly created geoms have all bits set.
2880
            
2881
             Note this is NOT CLS-compliant (due to the use of ulong to hold the 32-bit bitfield)
2882
             TODO: Implement a CLS-compliant work-around or justify why not
2883
             </summary>
2884
             <returns>the current bitfield</returns>
2885
             <param name="geom">the geom to query</param>
2886
        </member>
2887
        <member name="M:Tao.Ode.Ode.dGeomEnable(System.IntPtr)">
2888
             <summary>
2889
             Enable a geom.
2890
            
2891
             Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
2892
             although they can still be members of a space.
2893
            
2894
             New geoms are created in the enabled state.
2895
             </summary>
2896
             <param name="geom">the geom to enable</param>
2897
        </member>
2898
        <member name="M:Tao.Ode.Ode.dGeomDisable(System.IntPtr)">
2899
             <summary>
2900
             Disable a geom.
2901
            
2902
             Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
2903
             although they can still be members of a space.
2904
            
2905
             New geoms are created in the enabled state.
2906
             </summary>
2907
             <param name="geom">the geom to disable</param>
2908
        </member>
2909
        <member name="M:Tao.Ode.Ode.dGeomIsEnabled(System.IntPtr)">
2910
             <summary>
2911
             Check if a geom is enabled.
2912
            
2913
             New geoms are created in the enabled state.
2914
             </summary>
2915
             <returns>Returns non-zero if a geom is enabled, zero otherwise.</returns>
2916
             <param name="geom">the geom to query</param>
2917
        </member>
2918
        <member name="M:Tao.Ode.Ode.dGeomSetOffsetPosition(System.IntPtr,System.Single,System.Single,System.Single)">
2919
             <summary>
2920
             Geom Offset Overview
2921
             Geom offsets allow geom objects to be offset from a body's position.
2922
             This is useful for cases where an object has an offset centre of mass,
2923
             or is made up out of several geoms each with their own local position.
2924
             Native support for geom offsets means that the geomTransform container is now obselete.
2925
            
2926
             The real advantage over geomTransform is that there is a much easier interface for
2927
             setting, getting, and modifying a geom's offset from its body.
2928
             The elimination of geomTransform simplifies callbacks which no longer have to
2929
             special case that geom class type.
2930
             In terms of performance, the new code has a negligible performance difference
2931
             and a memory improvement compared to using a geomTransform.
2932
            
2933
             Geom Offset and Bodies
2934
             An offset only makes sense for geoms which are connected to bodies.
2935
             It is an error to attempt to set an offset for a geom which is not connected to a body.
2936
             When a geom is disconnected from a body, any offset will be automatically eliminated.
2937
             Thus, the possible states a geom can be in are:
2938
                 * Geom
2939
                 * Geom on body
2940
                 * Geom on body, with an offset
2941
             To create an offset, just call one of the geomSetOffset functions.
2942
             The offset will be automatically created if it does not yet exist.
2943
             Geom offsets are normally set by specifying the offset in local coordinates.
2944
             An extra set of functions are provided to allow an offset to be determined by
2945
             providing world coordinates and subtracting them from the current body position.
2946
             These second set of functions, geomSetOffsetWorldPosition(),etc, allow the user to
2947
             essentially say "keep the body where it is, and move its geom to this position in the world".
2948
             Set the local offset position of a geom from its body.
2949
            
2950
             After this call, the geom will be at a new position determined from the
2951
             body's position and the offset.
2952
             The geom must be attached to a body.
2953
             If the geom did not have an offset, it is automatically created.
2954
             </summary>
2955
             <param name="geom">the geom to set</param>
2956
             <param name="x">the new X coordinate</param>
2957
             <param name="y">the new Y coordinate</param>
2958
             <param name="z">the new Z coordinate</param>
2959
        </member>
2960
        <member name="M:Tao.Ode.Ode.dGeomSetOffsetRotation(System.IntPtr,Tao.Ode.Ode.dMatrix3)">
2961
             <summary>
2962
             Set the local offset rotation matrix of a geom from its body.
2963
            
2964
             Sets the geom's rotational offset in local coordinates.
2965
             After this call, the geom will be at a new position determined from the
2966
             body's position and the offset.
2967
             The geom must be attached to a body.
2968
             If the geom did not have an offset, it is automatically created.
2969
             </summary>
2970
             <param name="geom">the geom to set.</param>
2971
             <param name="R">the new rotation matrix.</param>
2972
        </member>
2973
        <member name="M:Tao.Ode.Ode.dGeomSetOffsetQuaternion(System.IntPtr,Tao.Ode.Ode.dQuaternion)">
2974
             <summary>
2975
             Set the local offset rotation of a geom from its body.
2976
            
2977
             Sets the geom's rotational offset in local coordinates.
2978
             After this call, the geom will be at a new position determined from the
2979
             body's position and the offset.
2980
             The geom must be attached to a body.
2981
             If the geom did not have an offset, it is automatically created.
2982
             </summary>
2983
             <param name="geom">the geom to set.</param>
2984
             <param name="Q">the new rotation.</param>
2985
        </member>
2986
        <member name="M:Tao.Ode.Ode.dGeomSetOffsetQuaternion(System.IntPtr,System.Single@)">
2987
            <summary>
2988
            
2989
            </summary>
2990
            <param name="geom"></param>
2991
            <param name="X"></param>
2992
        </member>
2993
        <member name="M:Tao.Ode.Ode.dGeomSetOffsetWorldPosition(System.IntPtr,System.Single,System.Single,System.Single)">
2994
             <summary>
2995
             Set the offset position of a geom from its body.
2996
            
2997
             Sets the geom's positional offset to move it to the new world
2998
             coordinates.
2999
             After this call, the geom will be at the world position passed in,
3000
             and the offset will be the difference from the current body position.
3001
             The geom must be attached to a body.
3002
             If the geom did not have an offset, it is automatically created.
3003
             </summary>
3004
             <param name="geom">the geom to set.</param>
3005
             <param name="x">the new X coordinate.</param>
3006
             <param name="y">the new Y coordinate.</param>
3007
             <param name="z">the new Z coordinate.</param>
3008
        </member>
3009
        <member name="M:Tao.Ode.Ode.dGeomSetOffsetWorldRotation(System.IntPtr,Tao.Ode.Ode.dMatrix3)">
3010
             <summary>
3011
             Set the offset rotation of a geom from its body.
3012
            
3013
             Sets the geom's rotational offset to orient it to the new world
3014
             rotation matrix.
3015
             After this call, the geom will be at the world orientation passed in,
3016
             and the offset will be the difference from the current body orientation.
3017
             The geom must be attached to a body.
3018
             If the geom did not have an offset, it is automatically created.
3019
             </summary>
3020
             <param name="geom">the geom to set.</param>>
3021
             <param name="R">the new rotation matrix.</param>>
3022
        </member>
3023
        <member name="M:Tao.Ode.Ode.dGeomSetOffsetWorldRotation(System.IntPtr,System.Single@)">
3024
            <summary>
3025
            
3026
            </summary>
3027
            <param name="geom"></param>
3028
            <param name="M00"></param>
3029
        </member>
3030
        <member name="M:Tao.Ode.Ode.dGeomSetOffsetWorldQuaternion(System.IntPtr,Tao.Ode.Ode.dQuaternion)">
3031
             <summary>
3032
             Set the offset rotation of a geom from its body.
3033
            
3034
             Sets the geom's rotational offset to orient it to the new world
3035
             rotation matrix.
3036
             After this call, the geom will be at the world orientation passed in,
3037
             and the offset will be the difference from the current body orientation.
3038
             The geom must be attached to a body.
3039
             If the geom did not have an offset, it is automatically created.
3040
             </summary>
3041
             <param name="geom">the geom to set.</param>
3042
             <param name="Q">the new rotation.</param>
3043
        </member>
3044
        <member name="M:Tao.Ode.Ode.dGeomSetOffsetWorldQuaternion(System.IntPtr,System.Single@)">
3045
            <summary>
3046
            
3047
            </summary>
3048
            <param name="geom"></param>
3049
            <param name="X"></param>
3050
        </member>
3051
        <member name="M:Tao.Ode.Ode.dGeomClearOffset(System.IntPtr)">
3052
             <summary>
3053
             Clear any offset from the geom.
3054
            
3055
             If the geom has an offset, it is eliminated and the geom is
3056
             repositioned at the body's position.  If the geom has no offset,
3057
             this function does nothing.
3058
             This is more efficient than calling dGeomSetOffsetPosition(zero)
3059
             and dGeomSetOffsetRotation(identiy), because this function actually
3060
             eliminates the offset, rather than leaving it as the identity transform.
3061
             </summary>
3062
             <param name="geom">the geom to have its offset destroyed.</param>
3063
        </member>
3064
        <member name="M:Tao.Ode.Ode.dGeomIsOffset(System.IntPtr)">
3065
             <summary>
3066
             Check to see whether the geom has an offset.
3067
            
3068
             This function will return non-zero if the offset has been created.
3069
             Note that there is a difference between a geom with no offset,
3070
             and a geom with an offset that is the identity transform.
3071
             In the latter case, although the observed behaviour is identical,
3072
             there is a unnecessary computation involved because the geom will
3073
             be applying the transform whenever it needs to recalculate its world
3074
             position.
3075
             </summary>
3076
             <param name="geom">the geom to query.</param>
3077
             <returns>Non-zero if the geom has an offset, zero otherwise.</returns>
3078
        </member>
3079
        <member name="M:Tao.Ode.Ode.dGeomGetOffsetPosition(System.IntPtr)">
3080
             <summary>
3081
             Get the offset position vector of a geom.
3082
            
3083
             Returns the positional offset of the geom in local coordinates.
3084
             If the geom has no offset, this function returns the zero vector.
3085
             </summary>
3086
             <param name="geom">the geom to query.</param>
3087
             <returns>A pointer to the geom's offset vector.</returns>
3088
             <remarks>
3089
             The returned value is a pointer to the geom's internal
3090
             data structure. It is valid until any changes are made
3091
            	to the geom.
3092
            	</remarks>
3093
        </member>
3094
        <member name="M:Tao.Ode.Ode.dGeomGetOffsetRotation(System.IntPtr)">
3095
            <summary>
3096
             Get the offset rotation matrix of a geom.
3097
            
3098
             Returns the rotational offset of the geom as a matrix.
3099
             If the geom has no offset, this function returns ????
3100
             FIXME - ODE docs incorrect.
3101
             </summary>
3102
             <param name="geom">the geom to query</param>
3103
             <returns>A pointer to the geom's offset rotation matrix.</returns>
3104
             <remarks>
3105
             The returned value is a pointer to the geom's internal
3106
             data structure. It is valid until any changes are made
3107
             to the geom.
3108
             </remarks>
3109
        </member>
3110
        <member name="M:Tao.Ode.Ode.dGeomGetOffsetQuaternion(System.IntPtr,Tao.Ode.Ode.dQuaternion@)">
3111
             <summary>
3112
             Get the offset rotation quaternion of a geom.
3113
            
3114
             Returns the rotation offset of the geom as a quaternion.
3115
             If the geom has no offset, the identity quaternion is returned.
3116
             </summary>
3117
             <param name="geom">the geom to query</param>
3118
             <param name="result">a copy of the rotation quaternion</param>
3119
        </member>
3120
        <member name="M:Tao.Ode.Ode.dCollide(System.IntPtr,System.IntPtr,System.Int32,Tao.Ode.Ode.dContactGeom[],System.Int32)">
3121
             <summary>
3122
             Given two geoms o1 and o2 that potentially intersect, generate contact
3123
             information for them.
3124
            
3125
             Internally, this just calls the correct class-specific collision functions
3126
             for o1 and o2.
3127
            
3128
             "flags" specifies how contacts should be generated if the geoms touch. The
3129
             lower 16 bits of flags is an integer that specifies the maximum number
3130
             of contact points to generate. Note that if this number is zero, this
3131
             function just pretends that it is one - in other words you can not ask
3132
             for zero contacts. All other bits in flags must be zero.
3133
             In the future the other bits may be used to select from different contact
3134
             generation strategies.
3135
            
3136
             "contacts" points to an array of dContactGeom structures. The array must
3137
             be able to hold at least the maximum number of contacts. These
3138
             dContactGeom structures may be embedded within larger structures in the
3139
             array - the skip parameter is the byte offset from one dContactGeom to
3140
             the next in the array. If skip is sizeof(dContactGeom) then contact
3141
             points to a normal (C-style) array. It is an error for skip to be smaller
3142
             than sizeof(dContactGeom).
3143
            
3144
             If the geoms intersect, this function returns the number of contact points
3145
             generated (and updates the contact array), otherwise it returns 0 (and the
3146
              contact array is not touched).
3147
            
3148
             If a space is passed as o1 or o2 then this function will collide all
3149
             objects contained in o1 with all objects contained in o2, and return
3150
             the resulting contact points. This method for colliding spaces with
3151
             geoms (or spaces with spaces) provides no user control over the
3152
             individual collisions. To get that control, use dSpaceCollide or
3153
             dSpaceCollide2 instead.
3154
            
3155
             If o1 and o2 are the same geom then this function will do nothing and
3156
             return 0. Technically speaking an object intersects with itself, but
3157
             it is not useful to find contact points in this case.
3158
            
3159
             This function does not care if o1 and o2 are in the same space or not
3160
             (or indeed if they are in any space at all).
3161
             </summary>
3162
             <returns>An int</returns>
3163
             <param name="o1">A  dGeomID</param>
3164
             <param name="o2">A  dGeomID</param>
3165
             <param name="flags">An int</param>
3166
             <param name="contacts">A  dContactGeom[]</param>
3167
             <param name="skip">An int</param>
3168
        </member>
3169
        <member name="M:Tao.Ode.Ode.dSpaceCollide(System.IntPtr,System.IntPtr,Tao.Ode.Ode.dNearCallback)">
3170
             <summary>
3171
             This determines which pairs of geoms in a space may potentially intersect,
3172
             and calls the callback function with each candidate pair.
3173
            
3174
             The callback function is of type dNearCallback, which is defined as:
3175
            		typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
3176
            
3177
             The data argument is passed from dSpaceCollide directly to the callback
3178
             function. Its meaning is user defined.
3179
             The o1 and o2 arguments are the geoms that may be near each other.
3180
             The callback function can call dCollide on o1 and o2 to generate contact
3181
             points between each pair. Then these contact points may be added to the
3182
             simulation as contact joints. The user's callback function can of course
3183
             chose not to call dCollide for any pair, e.g. if the user decides that
3184
             those pairs should not interact.
3185
            
3186
             Other spaces that are contained within the colliding space are not treated
3187
             specially, i.e. they are not recursed into. The callback function may be
3188
             passed these contained spaces as one or both geom arguments.
3189
            
3190
             dSpaceCollide() is guaranteed to pass all intersecting geom pairs to the
3191
             callback function, but it may also make mistakes and pass non-intersecting
3192
             pairs. The number of mistaken calls depends on the internal algorithms
3193
             used by the space. Thus you should not expect that dCollide will return
3194
             contacts for every pair passed to the callback.
3195
             </summary>
3196
             <param name="space">A  dSpaceID</param>
3197
             <param name="data">An IntPtr</param>
3198
             <param name="callback">A  dNearCallback</param>
3199
        </member>
3200
        <member name="M:Tao.Ode.Ode.dSpaceCollide2(System.IntPtr,System.IntPtr,System.IntPtr,Tao.Ode.Ode.dNearCallback)">
3201
             <summary>
3202
             This function is similar to dSpaceCollide, except that it is passed two
3203
             geoms (or spaces) as arguments. It calls the callback for all
3204
             potentially intersecting pairs that contain one geom from o1 and one geom
3205
             from o2.
3206
            
3207
             The exact behavior depends on the types of o1 and o2:
3208
            		If one argument is a non-space geom and the other is a space, the
3209
             	callback is called with all potential intersections between the geom and
3210
             	the objects in the space.
3211
             	If both o1 and o2 are spaces then this calls the callback for all potentially
3212
             	intersecting pairs that contain one geom from o1 and one geom from o2. The
3213
             	algorithm that is used depends on what kinds of spaces are being collided.
3214
             	If no optimized algorithm can be selected then this function will resort
3215
             	to one of the following two strategies:
3216
             		1. 	All the geoms in o1 are tested one-by-one against o2.
3217
             		2. 	All the geoms in o2 are tested one-by-one against o1.
3218
             	The strategy used may depend on a number of rules, but in general the
3219
             	space with less objects has its geoms examined one-by-one.
3220
             		-	If both arguments are the same space, this is equivalent to calling
3221
             			dSpaceCollide on that space.
3222
             		-	If both arguments are non-space geoms, this simply calls the callback
3223
             			once with these arguments.
3224
            
3225
             If this function is given a space and an geom X in that same space, this
3226
             case is not treated specially. In this case the callback will always be
3227
             called with the pair (X,X), because an objects always intersects with
3228
             itself. The user may either test for this case and ignore it, or just
3229
             pass the pair (X,X) to dCollide (which will be guaranteed to return 0).
3230
             </summary>
3231
             <param name="o1">A  dGeomID</param>
3232
             <param name="o2">A  dGeomID</param>
3233
             <param name="data">An IntPtr</param>
3234
             <param name="callback">A  dNearCallback</param>
3235
        </member>
3236
        <member name="M:Tao.Ode.Ode.dCreateSphere(System.IntPtr,System.Single)">
3237
            <summary>
3238
            Create a sphere geom of the given radius, and return its ID. If space is
3239
            nonzero, insert it into that space. The point of reference for a sphere
3240
            is its center.
3241
            </summary>
3242
            <returns>A dGeomID</returns>
3243
            <param name="space">A  dSpaceID</param>
3244
            <param name="radius">A  dReal</param>
3245
        </member>
3246
        <member name="M:Tao.Ode.Ode.dGeomSphereSetRadius(System.IntPtr,System.Single)">
3247
            <summary>
3248
            Set the radius of the given sphere.
3249
            </summary>
3250
            <param name="sphere">A  dGeomID</param>
3251
            <param name="radius">A  dReal</param>
3252
        </member>
3253
        <member name="M:Tao.Ode.Ode.dGeomSphereGetRadius(System.IntPtr)">
3254
            <summary>
3255
            Return the radius of the given sphere.
3256
            </summary>
3257
            <returns>A dReal</returns>
3258
            <param name="sphere">A  dGeomID</param>
3259
        </member>
3260
        <member name="M:Tao.Ode.Ode.dGeomSpherePointDepth(System.IntPtr,System.Single,System.Single,System.Single)">
3261
             <summary>
3262
             Return the depth of the point (x,y,z) in the given sphere.
3263
            
3264
             Points inside the geom will have positive depth, points outside it will
3265
             have negative depth, and points on the surface will have zero depth.
3266
             </summary>
3267
             <returns>A dReal</returns>
3268
             <param name="sphere">A  dGeomID</param>
3269
             <param name="x">A  dReal</param>
3270
             <param name="y">A  dReal</param>
3271
             <param name="z">A  dReal</param>
3272
        </member>
3273
        <member name="M:Tao.Ode.Ode.dGeomSetConvex(System.IntPtr,System.Single[],System.Int32,System.Single[],System.Int32,System.Int32[])">
3274
            <summary>
3275
            
3276
            </summary>
3277
            <param name="geom"></param>
3278
            <param name="planes"></param>
3279
            <param name="planeCount"></param>
3280
            <param name="points"></param>
3281
            <param name="pointCount"></param>
3282
            <param name="polygons"></param>
3283
            <returns></returns>
3284
        </member>
3285
        <member name="M:Tao.Ode.Ode.dCreateConvex(System.IntPtr,System.Single[],System.Int32,System.Single[],System.Int32,System.Int32[])">
3286
            <summary>
3287
            
3288
            </summary>
3289
            <param name="space"></param>
3290
            <param name="planes"></param>
3291
            <param name="planeCount"></param>
3292
            <param name="points"></param>
3293
            <param name="pointCount"></param>
3294
            <param name="polygons"></param>
3295
            <returns></returns>
3296
        </member>
3297
        <member name="M:Tao.Ode.Ode.dCreateBox(System.IntPtr,System.Single,System.Single,System.Single)">
3298
             <summary>
3299
             Create a box geom of the given x/y/z side lengths (lx,ly,lz), and return
3300
             its ID.
3301
            
3302
             If space is nonzero, insert it into that space. The point of reference
3303
             for a box is its center.
3304
             </summary>
3305
             <returns>A dGeomID</returns>
3306
             <param name="space">the space the box should be inserted to</param>
3307
             <param name="lx">length of the x side</param>
3308
             <param name="ly">length of the y side</param>
3309
             <param name="lz">length of the z side</param>
3310
        </member>
3311
        <member name="M:Tao.Ode.Ode.dGeomBoxSetLengths(System.IntPtr,System.Single,System.Single,System.Single)">
3312
            <summary>
3313
            Set the side lengths of the given box.
3314
            </summary>
3315
            <param name="box">the box to be set</param>
3316
            <param name="lx">length of the x side</param>
3317
            <param name="ly">length of the y side</param>
3318
            <param name="lz">length of the z side</param>
3319
        </member>
3320
        <member name="M:Tao.Ode.Ode.dGeomBoxGetLengths(System.IntPtr,Tao.Ode.Ode.dVector3@)">
3321
            <summary>
3322
            Return in result the side lengths of the given box.
3323
            </summary>
3324
            <param name="box">the box to query</param>
3325
            <param name="result">vector3 containing the side lengths</param>
3326
        </member>
3327
        <member name="M:Tao.Ode.Ode.dGeomBoxGetLengths(System.IntPtr,System.Single@)">
3328
            <summary>
3329
            
3330
            </summary>
3331
            <param name="geom"></param>
3332
            <param name="x"></param>
3333
        </member>
3334
        <member name="M:Tao.Ode.Ode.dGeomCopyOffsetPosition(System.IntPtr,Tao.Ode.Ode.dVector3@)">
3335
            <summary>
3336
            
3337
            </summary>
3338
            <param name="geom"></param>
3339
            <param name="pos"></param>
3340
            <returns></returns>
3341
        </member>
3342
        <member name="M:Tao.Ode.Ode.dGeomCopyOffsetPosition(System.IntPtr,System.Single@)">
3343
            <summary>
3344
            
3345
            </summary>
3346
            <param name="geom"></param>
3347
            <param name="X"></param>
3348
            <returns></returns>
3349
        </member>
3350
        <member name="M:Tao.Ode.Ode.dGeomCopyOffsetRotation(System.IntPtr,Tao.Ode.Ode.dMatrix3@)">
3351
            <summary>
3352
            
3353
            </summary>
3354
            <param name="geom"></param>
3355
            <param name="R"></param>
3356
            <returns></returns>
3357
        </member>
3358
        <member name="M:Tao.Ode.Ode.dGeomCopyOffsetRotation(System.IntPtr,System.Single@)">
3359
            <summary>
3360
            
3361
            </summary>
3362
            <param name="geom"></param>
3363
            <param name="M00"></param>
3364
            <returns></returns>
3365
        </member>
3366
        <member name="M:Tao.Ode.Ode.dGeomCopyPosition(System.IntPtr,Tao.Ode.Ode.dVector3@)">
3367
            <summary>
3368
            
3369
            </summary>
3370
            <param name="geom"></param>
3371
            <param name="pos"></param>
3372
        </member>
3373
        <member name="M:Tao.Ode.Ode.dGeomCopyPosition(System.IntPtr,System.Single@)">
3374
            <summary>
3375
            
3376
            </summary>
3377
            <param name="geom"></param>
3378
            <param name="X"></param>
3379
        </member>
3380
        <member name="M:Tao.Ode.Ode.dGeomCopyRotation(System.IntPtr,Tao.Ode.Ode.dMatrix3@)">
3381
            <summary>
3382
            
3383
            </summary>
3384
            <param name="geom"></param>
3385
            <param name="R"></param>
3386
        </member>
3387
        <member name="M:Tao.Ode.Ode.dGeomCopyRotation(System.IntPtr,System.Single@)">
3388
            <summary>
3389
            
3390
            </summary>
3391
            <param name="geom"></param>
3392
            <param name="M00"></param>
3393
        </member>
3394
        <member name="M:Tao.Ode.Ode.dGeomBoxPointDepth(System.IntPtr,System.Single,System.Single,System.Single)">
3395
             <summary>
3396
             Return the depth of the point (x,y,z) in the given box.
3397
            
3398
             Points inside the geom will have positive depth, points outside it will
3399
             have negative depth, and points on the surface will have zero depth.
3400
             </summary>
3401
             <returns>the depth of the point</returns>
3402
             <param name="box">the box to query</param>
3403
             <param name="x">the x-coordinate of the point</param>
3404
             <param name="y">the y-coordinate of the point</param>
3405
             <param name="z">the z-coordinate of the point</param>
3406
        </member>
3407
        <member name="M:Tao.Ode.Ode.dCreatePlane(System.IntPtr,System.Single,System.Single,System.Single,System.Single)">
3408
             <summary>
3409
             Create a plane geom of the given parameters, and return its ID.
3410
            
3411
             If space is nonzero, insert it into that space. The plane equation is
3412
            		a*x+b*y+c*z = d
3413
            
3414
             The plane's normal vector is (a,b,c), and it must have length 1.
3415
            
3416
             Planes are non-placeable geoms. This means that, unlike placeable geoms,
3417
             planes do not have an assigned position and rotation. This means that
3418
             the parameters (a,b,c,d) are always in global coordinates. In other words
3419
             it is assumed that the plane is always part of the static environment and
3420
             not tied to any movable object.
3421
             </summary>
3422
             <returns>the plane</returns>
3423
             <param name="space">the space to insert the plane into</param>
3424
             <param name="a">the a parameter of the plane</param>
3425
             <param name="b">the b parameter of the plane</param>
3426
             <param name="c">the c parameter of the plane</param>
3427
             <param name="d">the d parameter of the plane</param>
3428
        </member>
3429
        <member name="M:Tao.Ode.Ode.dGeomPlaneSetParams(System.IntPtr,System.Single,System.Single,System.Single,System.Single)">
3430
            <summary>
3431
            Set the parameters of the given plane.
3432
            </summary>
3433
            <param name="plane">the plane to set</param>
3434
            <param name="a">the a parameter to set</param>
3435
            <param name="b">the b parameter to set</param>
3436
            <param name="c">the c parameter to set</param>
3437
            <param name="d">the d parameter to set</param>
3438
        </member>
3439
        <member name="M:Tao.Ode.Ode.dGeomPlaneGetParams(System.IntPtr,Tao.Ode.Ode.dVector4@)">
3440
            <summary>
3441
            Return in result the parameters of the given plane.
3442
            </summary>
3443
            <param name="plane">the plane to query</param>
3444
            <param name="result">A dVector4 containing the plane's parameters</param>
3445
        </member>
3446
        <member name="M:Tao.Ode.Ode.dGeomPlanePointDepth(System.IntPtr,System.Single,System.Single,System.Single)">
3447
             <summary>
3448
             Return the depth of the point (x,y,z) in the given plane.
3449
            
3450
             Points inside the geom will have positive depth, points outside it will
3451
             have negative depth, and points on the surface will have zero depth.
3452
             </summary>
3453
             <returns>the depth of the point as a dReal</returns>
3454
             <param name="plane">the plane to query</param>
3455
             <param name="x">the x coordinate of the point</param>
3456
             <param name="y">the y coordinate of the point</param>
3457
             <param name="z">the z coordinate of the point</param>
3458
        </member>
3459
        <member name="M:Tao.Ode.Ode.dCreateCapsule(System.IntPtr,System.Single,System.Single)">
3460
             <summary>
3461
             Create a capsule geom of the given parameters, and return its ID.
3462
             If space is nonzero, insert it into that space.
3463
            
3464
             A capsule is like a normal cylinder except it has half-sphere
3465
             caps at its ends. This feature makes the internal collision detection
3466
             code particularly fast and accurate. The cylinder's length, not counting
3467
             the caps, is given by length. The cylinder is aligned along the geom's
3468
             local Z axis. The radius of the caps, and of the cylinder itself, is
3469
             given by radius.
3470
             </summary>
3471
             <returns>the capsule</returns>
3472
             <param name="space">the space to add the capsule to</param>
3473
             <param name="radius">the radius of the capsule</param>
3474
             <param name="length">the length of the capsule</param>
3475
        </member>
3476
        <member name="M:Tao.Ode.Ode.dGeomCapsuleSetParams(System.IntPtr,System.Single,System.Single)">
3477
            <summary>
3478
            Set the parameters of the given capsule.
3479
            </summary>
3480
            <param name="capsule">the capsule to manipulate</param>
3481
            <param name="radius">the new radius</param>
3482
            <param name="length">the new length</param>
3483
        </member>
3484
        <member name="M:Tao.Ode.Ode.dGeomCapsuleGetParams(System.IntPtr,System.Single@,System.Single@)">
3485
            <summary>
3486
            Return in radius and length the parameters of the given capsule.
3487
            </summary>
3488
            <param name="capsule">the capsule to query</param>
3489
            <param name="radius">a reference to the dReal variable to hold the returned radius</param>
3490
            <param name="length">a reference to the dReal variable to hold the returned length</param>
3491
        </member>
3492
        <member name="M:Tao.Ode.Ode.dGeomCapsulePointDepth(System.IntPtr,System.Single,System.Single,System.Single)">
3493
             <summary>
3494
             Return the depth of the point (x,y,z) in the given capsule.
3495
            
3496
             Points inside the geom will have positive depth, points outside it will
3497
             have negative depth, and points on the surface will have zero depth.
3498
             </summary>
3499
             <returns>the depth of the point</returns>
3500
             <param name="capsule">the capsule to query</param>
3501
             <param name="x">the x coordinate of the point</param>
3502
             <param name="y">the y coordinate of the point</param>
3503
             <param name="z">the z coordinate of the point</param>
3504
        </member>
3505
        <member name="M:Tao.Ode.Ode.dCreateCylinder(System.IntPtr,System.Single,System.Single)">
3506
             <summary>
3507
             Create a (flat-ended) cylinder geom of the given parameters, and return its ID.
3508
             If space is nonzero, insert it into that space.
3509
            
3510
             The cylinder's length is given by length. The cylinder is aligned along the geom's
3511
             local Z axis.
3512
             The radius of the cylinder is given by radius.
3513
             </summary>
3514
             <returns>the cylinder id</returns>
3515
             <param name="space">the space to add the cylinder to</param>
3516
             <param name="radius">the radius of the cylinder</param>
3517
             <param name="length">the length of the cylinder</param>
3518
        </member>
3519
        <member name="M:Tao.Ode.Ode.dGeomCylinderSetParams(System.IntPtr,System.Single,System.Single)">
3520
            <summary>
3521
            Set the parameters of the given cylinder.
3522
            </summary>
3523
            <param name="cylinder">the cylinder to manipulate</param>
3524
            <param name="radius">the new radius</param>
3525
            <param name="length">the new length</param>
3526
        </member>
3527
        <member name="M:Tao.Ode.Ode.dGeomCylinderGetParams(System.IntPtr,System.Single@,System.Single@)">
3528
            <summary>
3529
            Return in radius and length the parameters of the given cylinder.
3530
            </summary>
3531
            <param name="cylinder">the cylinder to query</param>
3532
            <param name="radius">a reference to the dReal variable to hold the returned radius</param>
3533
            <param name="length">a reference to the dReal variable to hold the returned length</param>
3534
        </member>
3535
        <member name="M:Tao.Ode.Ode.dCreateRay(System.IntPtr,System.Single)">
3536
             <summary>
3537
             Create a ray geom of the given length, and return its ID.
3538
            
3539
             If space is nonzero, insert it into that space.
3540
             </summary>
3541
             <remarks>
3542
             A ray is different from all the other geom classes in that it does not
3543
             represent a solid object. It is an infinitely thin line that starts from
3544
             the geom's position and extends in the direction of the geom's local Z-axis.
3545
            
3546
             Calling dCollide between a ray and another geom will result in at most one
3547
             contact point. Rays have their own conventions for the contact information
3548
             in the dContactGeom structure (thus it is not useful to create contact
3549
             joints from this information):
3550
            
3551
             	pos - 		This is the point at which the ray intersects the surface of the
3552
             				other geom, regardless of whether the ray starts from inside or
3553
             				outside the geom.
3554
             	normal - 	This is the surface normal of the other geom at the contact point.
3555
             				if dCollide is passed the ray as its first geom then the normal
3556
             				will be oriented correctly for ray reflection from that surface
3557
             				(otherwise it will have the opposite sign).
3558
             	depth - 	This is the distance from the start of the ray to the contact point.
3559
            
3560
             Rays are useful for things like visibility testing, determining the path of
3561
             projectiles or light rays, and for object placement.
3562
             </remarks>
3563
             <returns>the id of the new ray</returns>
3564
             <param name="space">the space to add the ray to</param>
3565
             <param name="length">the length of the ray</param>
3566
        </member>
3567
        <member name="M:Tao.Ode.Ode.dGeomRaySetLength(System.IntPtr,System.Single)">
3568
            <summary>
3569
            Set the length of the given ray.
3570
            </summary>
3571
            <param name="ray">the ray to change</param>
3572
            <param name="length">the new length of the ray</param>
3573
        </member>
3574
        <member name="M:Tao.Ode.Ode.dGeomRayGetLength(System.IntPtr)">
3575
            <summary>
3576
            Get the length of the given ray.
3577
            </summary>
3578
            <returns>the length of the ray</returns>
3579
            <param name="ray">the ray to query</param>
3580
        </member>
3581
        <member name="M:Tao.Ode.Ode.dGeomRaySet(System.IntPtr,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
3582
             <summary>
3583
             Set the starting position (px,py,pz) and direction (dx,dy,dz) of the given ray.
3584
             The ray's rotation matrix will be adjusted so that the local Z-axis is aligned
3585
             with the direction.
3586
            
3587
             Note that this does not adjust the ray's length.
3588
             </summary>
3589
             <param name="ray">the ray to set</param>
3590
             <param name="px">x-coordinate of the starting position</param>
3591
             <param name="py">y-coordinate of the starting position</param>
3592
             <param name="pz">z-coordinate of the starting position</param>
3593
             <param name="dx">x-coordinate of the direction</param>
3594
             <param name="dy">y-coordinate of the direction</param>
3595
             <param name="dz">z-coordinate of the direction</param>
3596
        </member>
3597
        <member name="M:Tao.Ode.Ode.dGeomRayGet(System.IntPtr,Tao.Ode.Ode.dVector3@,Tao.Ode.Ode.dVector3@)">
3598
            <summary>
3599
            Get the starting position (start) and direction (dir) of the ray.
3600
            The returned direction will be a unit length vector.
3601
            </summary>
3602
            <param name="ray">the ray to query</param>
3603
            <param name="start">dVector3 containing the returned start position</param>
3604
            <param name="dir">dVector3 containing the returned direction</param>
3605
        </member>
3606
        <member name="M:Tao.Ode.Ode.dGeomRayGet(System.IntPtr,System.Single@,System.Single@)">
3607
            <summary>
3608
            
3609
            </summary>
3610
            <param name="ray"></param>
3611
            <param name="startX"></param>
3612
            <param name="dirX"></param>
3613
        </member>
3614
        <member name="M:Tao.Ode.Ode.dGeomRaySetParams(System.IntPtr,System.Int32,System.Int32)">
3615
             <summary>
3616
             Set ray flags that influence ray collision detection.
3617
            
3618
             These flags are currently only noticed by the trimesh collider, because they can make a major difference there.
3619
             </summary>
3620
             <param name="g">the ray to set</param>
3621
             <param name="FirstContact">An int representing first contact - undocumented in ODE</param>
3622
             <param name="BackfaceCull">An int representing backface cull - undocumented in ODE</param>
3623
        </member>
3624
        <member name="M:Tao.Ode.Ode.dGeomRayGetParams(System.IntPtr,System.Int32@,System.Int32@)">
3625
            <summary>
3626
            Get ray flags that influence ray collision detection.
3627
            </summary>
3628
            <param name="g">the ray to query</param>
3629
            <param name="FirstContact">An int representing first contact - undocumented in ODE</param>
3630
            <param name="BackfaceCull">An int representing backface cull - undocumented in ODE</param>
3631
        </member>
3632
        <member name="M:Tao.Ode.Ode.dGeomRayGetParams(System.IntPtr,System.Int32[],System.Int32[])">
3633
            <summary>
3634
            Get ray flags that influence ray collision detection.
3635
            TODO: Document me - Not documented in ODE
3636
            </summary>
3637
            <param name="g">the ray to query</param>
3638
            <param name="FirstContact">An int[]</param>
3639
            <param name="BackfaceCull">An int[]</param>
3640
        </member>
3641
        <member name="M:Tao.Ode.Ode.dGeomRaySetClosestHit(System.IntPtr,System.Int32)">
3642
            <summary>
3643
            Set the closest hit parameter for a ray
3644
            TODO: Document me - not documented in ODE
3645
            </summary>
3646
            <param name="g">the ray to set</param>
3647
            <param name="closestHit">An int representing closest hit - not documented in ODE</param>
3648
        </member>
3649
        <member name="M:Tao.Ode.Ode.dGeomRayGetClosestHit(System.IntPtr)">
3650
            <summary>
3651
            Get the closest hit parameter for a ray
3652
            TODO: Document me - not documented in ODE
3653
            </summary>
3654
            <returns>An int representing the closest hit parameter</returns>
3655
            <param name="g">the ray to query</param>
3656
        </member>
3657
        <member name="M:Tao.Ode.Ode.dCreateGeomTransform(System.IntPtr)">
3658
             <summary>
3659
             Create a new geometry transform object, and return its ID.
3660
             NOTE:  The new Geometry offset API is favored over transforms.
3661
            
3662
             If space is nonzero, insert it into that space.
3663
             On creation the encapsulated geometry is set to 0.
3664
             </summary>
3665
             <remarks>
3666
             A geometry transform `T' is a geom that encapsulates another geom `E',
3667
             allowing E to be positioned and rotated arbitrarily with respect to
3668
             its point of reference.
3669
             Most placeable geoms (like the sphere and box) have their point of
3670
             reference corresponding to their center of mass, allowing them to be
3671
             easily connected to dynamics objects. Transform objects give you more
3672
             flexibility - for example, you can offset the center of a sphere, or
3673
             rotate a cylinder so that its axis is something other than the default.
3674
             T mimics the object E that it encapsulates: T is inserted into a space
3675
             and attached to a body as though it was E. E itself must not be inserted
3676
             into a space or attached to a body. E's position and rotation are set to
3677
             constant values that say how it is transformed relative to T. If E's
3678
             position and rotation are left at their default values, T will behave
3679
             exactly like E would have if you had used it directly.
3680
             </remarks>
3681
             <returns>A dGeomID</returns>
3682
             <param name="space">A  dSpaceID</param>
3683
        </member>
3684
        <member name="M:Tao.Ode.Ode.dGeomTransformSetGeom(System.IntPtr,System.IntPtr)">
3685
             <summary>
3686
             Set the geom that the geometry transform g encapsulates. The object obj
3687
             must not be inserted into any space, and must not be associated with any body.
3688
            
3689
             If g has its clean-up mode turned on, and it already encapsulates an object,
3690
             the old object will be destroyed before it is replaced with the new one.
3691
             </summary>
3692
             <param name="g">A  dGeomID</param>
3693
             <param name="obj">A  dGeomID</param>
3694
        </member>
3695
        <member name="M:Tao.Ode.Ode.dGeomTransformGetGeom(System.IntPtr)">
3696
            <summary>
3697
            Get the geom that the geometry transform g encapsulates.
3698
            </summary>
3699
            <returns>A dGeomID</returns>
3700
            <param name="g">A  dGeomID</param>
3701
        </member>
3702
        <member name="M:Tao.Ode.Ode.dGeomTransformSetCleanup(System.IntPtr,System.Int32)">
3703
             <summary>
3704
             Set the clean-up mode of geometry transform g.
3705
            
3706
             If the clean-up mode is 1, then the encapsulated object will be destroyed
3707
             when the geometry transform is destroyed.
3708
             If the clean-up mode is 0 this does not happen.
3709
            
3710
             The default clean-up mode is 0.
3711
             </summary>
3712
             <param name="g">A  dGeomID</param>
3713
             <param name="mode">An int</param>
3714
        </member>
3715
        <member name="M:Tao.Ode.Ode.dGeomTransformGetCleanup(System.IntPtr)">
3716
             <summary>
3717
             Get the clean-up mode of geometry transform g.
3718
            
3719
             If the clean-up mode is 1, then the encapsulated object will be destroyed
3720
             when the geometry transform is destroyed.
3721
             If the clean-up mode is 0 this does not happen.
3722
            
3723
             The default clean-up mode is 0.
3724
             </summary>
3725
             <returns>An int</returns>
3726
             <param name="g">A  dGeomID</param>
3727
        </member>
3728
        <member name="M:Tao.Ode.Ode.dGeomTransformSetInfo(System.IntPtr,System.Int32)">
3729
             <summary>
3730
             Set and get the "information" mode of geometry transform g.
3731
            
3732
             The mode can be 0 or 1. The default mode is 0.
3733
             With mode 0, when a transform object is collided with another object
3734
             (using dCollide (tx_geom,other_geom,...)), the g1 field of the
3735
             dContactGeom structure is set to the geom that is encapsulated by the
3736
             transform object. This value of g1 allows the caller to interrogate the
3737
             type of the geom that is transformed, but it does not allow the caller
3738
             to determine the position in global coordinates or the associated body,
3739
             as both of these properties are used differently for encapsulated geoms.
3740
             With mode 1, the g1 field of the dContactGeom structure is set to the
3741
             transform object itself. This makes the object appear just like any other
3742
             kind of geom, as dGeomGetBody will return the attached body, and
3743
             dGeomGetPosition will return the global position.
3744
             To get the actual type of the encapsulated geom in this case,
3745
             dGeomTransformGetGeom must be used.
3746
             </summary>
3747
             <param name="g">A  dGeomID</param>
3748
             <param name="mode">An int</param>
3749
        </member>
3750
        <member name="M:Tao.Ode.Ode.dGeomTransformGetInfo(System.IntPtr)">
3751
             <summary>
3752
             Set and get the "information" mode of geometry transform g.
3753
            
3754
             The mode can be 0 or 1. The default mode is 0.
3755
             </summary>
3756
             <returns>An int</returns>
3757
             <param name="g">A  dGeomID</param>
3758
        </member>
3759
        <member name="M:Tao.Ode.Ode.dCreateGeomClass(Tao.Ode.Ode.dGeomClass)">
3760
             <summary>
3761
             Create a custom (user) geom class and register with ODE.
3762
             Note ODE limits the number of custom geom classes that can be generated.
3763
            
3764
             NOTE also that this is untested and may need modification/clarification before
3765
             being considered stable.
3766
             </summary>
3767
             <param name="customclass">the custom class object</param>
3768
             <returns>a class number for the new custom geom class</returns>
3769
        </member>
3770
        <member name="M:Tao.Ode.Ode.dGeomGetClassData(System.IntPtr)">
3771
            <summary>Return a class data for a custom user defined geom</summary>
3772
            <param name="geom"></param>
3773
        </member>
3774
        <member name="M:Tao.Ode.Ode.dCreateGeom(System.Int32)">
3775
            <summary>
3776
            Create an instance of a custom user-defined geom class.
3777
            </summary>
3778
            <param name="classnum">the class number of the custom geom, generated by dCreateGeomClass</param>
3779
            <returns>the id (handle) of the new geom instance</returns>
3780
        </member>
3781
        <member name="M:Tao.Ode.Ode.dClosestLineSegmentPoints(Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3@,Tao.Ode.Ode.dVector3@)">
3782
             <summary>
3783
             Given two line segments A and B with endpoints a1-a2 and b1-b2, return
3784
             the points on A and B that are closest to each other (in cp1 and cp2).
3785
            
3786
             In the case of parallel lines where there are multiple solutions, a
3787
             solution involving the endpoint of at least one line will be returned.
3788
             This will work correctly for zero length lines, e.g. if a1==a2 and/or b1==b2.
3789
             </summary>
3790
             <param name="a1">A dVector3 containing endpoint 1 of line segment A</param>
3791
             <param name="a2">A dVector3 containing endpoint 2 of line segment A</param>
3792
             <param name="b1">A dVector3 containing endpoint 1 of line segment B</param>
3793
             <param name="b2">A dVector3 containing endpoint 2 of line segment B</param>
3794
             <param name="cp1">A dVector3 returning the closest point on A</param>
3795
             <param name="cp2">A dVector3 returning the closest point on B</param>
3796
        </member>
3797
        <member name="M:Tao.Ode.Ode.dBoxTouchesBox(Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dMatrix3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dMatrix3,Tao.Ode.Ode.dVector3)">
3798
            <summary>
3799
            Given boxes (p1,R1,side1) and (p2,R2,side2), return 1 if they intersect
3800
            or 0 if not. p is the center of the box, R is the rotation matrix for
3801
            the box, and side is a vector of x/y/z side lengths.
3802
            </summary>
3803
            <returns>1 if the boxes intersect, 0 if they do not</returns>
3804
            <param name="_p1">A dVector3 containing the center coordinates for box 1</param>
3805
            <param name="R1">A dMatrix3 containing the rotation matrix for box 1</param>
3806
            <param name="side1">A dVector3 containing the side lengths (x/y/z) for box 1</param>
3807
            <param name="_p2">A dVector3 containing the center coordinates for box 2</param>
3808
            <param name="R2">A dMatrix3 containing the rotation matrix for box 2</param>
3809
            <param name="side2">A dVector3 containing the side lengths (x/y/z) for box 2</param>
3810
        </member>
3811
        <member name="M:Tao.Ode.Ode.dBoxBox(Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dMatrix3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dMatrix3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3@,System.Single@,System.Int32@,System.Int32,Tao.Ode.Ode.dContactGeom[]@,System.Int32)">
3812
             <summary>
3813
             given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and
3814
             generate contact points. this returns 0 if there is no contact otherwise
3815
             it returns the number of contacts generated.
3816
             `normal' returns the contact normal.
3817
             `depth' returns the maximum penetration depth along that normal.
3818
             `return_code' returns a number indicating the type of contact that was
3819
             detected:
3820
                    1,2,3 = box 2 intersects with a face of box 1
3821
                    4,5,6 = box 1 intersects with a face of box 2
3822
                    7..15 = edge-edge contact
3823
             `maxc' is the maximum number of contacts allowed to be generated, i.e.
3824
             the size of the `contact' array.
3825
             `contact' and `skip' are the contact array information provided to the
3826
             collision functions.
3827
            
3828
             this function only fills in the position and depth fields.
3829
             </summary>
3830
             TODO: Needs testing.
3831
             <param name="p1">A dVector3 containing the center coordinates for box 1</param>
3832
             <param name="R1">A dMatrix3 containing the rotation matrix for box 1</param>
3833
             <param name="side1">A dVector3 containing the side lengths (x/y/z) for box 1</param>
3834
             <param name="p2">A dVector3 containing the center coordinates for box 2</param>
3835
             <param name="R2">A dMatrix3 containing the rotation matrix for box 2</param>
3836
             <param name="side2">A dVector3 containing the side lengths (x/y/z) for box 1</param>
3837
             <param name="normal">returns the value of the contact normal</param>
3838
             <param name="depth">returns the maximum penetration along the contact normal</param>
3839
             <param name="return_code">returns the type of contact detected</param>
3840
             <param name="maxc">specifies the maximum number of contacts allowed (should match size of contact array)</param>
3841
             <param name="contact">an array of ContactGeoms returning the contact information</param>
3842
             <param name="skip">contact array information provided to collision functions.  Size of contact geom?</param>
3843
             <returns>the number of contacts generated</returns>
3844
        </member>
3845
        <member name="M:Tao.Ode.Ode.dInfiniteAABB(System.IntPtr,Tao.Ode.Ode.Aabb@)">
3846
            <summary>
3847
            This function can be used as the AABB-getting function in a geometry class,
3848
            if you don't want to compute tight bounds for the AABB.
3849
            It returns +/- infinity in each direction.
3850
            </summary>
3851
            <param name="geom">the geom</param>
3852
            <param name="aabb">the returned Aabb with all positions set to +/- infinity</param>
3853
        </member>
3854
        <member name="M:Tao.Ode.Ode.dCloseODE">
3855
            <summary>
3856
            This deallocates some extra memory used by ODE that can not be deallocated using the normal destroy functions,
3857
            e.g. dWorldDestroy.
3858
            You can use this function at the end of your application to prevent memory leak checkers from complaining about ODE.
3859
            </summary>
3860
        </member>
3861
        <member name="M:Tao.Ode.Ode.dSimpleSpaceCreate(System.IntPtr)">
3862
             <summary>
3863
             Create a simple space.
3864
            
3865
             If space is nonzero, insert the new space into that space.
3866
             </summary>
3867
             <returns>A dSpaceID</returns>
3868
             <param name="space">A  dSpaceID</param>
3869
        </member>
3870
        <member name="M:Tao.Ode.Ode.dHashSpaceCreate(System.IntPtr)">
3871
             <summary>
3872
             Create a multi-resolution hash table space.
3873
            
3874
             If space is nonzero, insert the new space into that space.
3875
             </summary>
3876
             <returns>A dSpaceID</returns>
3877
             <param name="space">A  dSpaceID</param>
3878
        </member>
3879
        <member name="M:Tao.Ode.Ode.dQuadTreeSpaceCreate(System.IntPtr,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3,System.Int32)">
3880
             <summary>
3881
             Creates a quadtree space.
3882
             If space is nonzero, insert the new space into that space.
3883
            
3884
             Center and Extents define the size of the root block.
3885
             Depth sets the depth of the tree - the number of blocks that are created is 4^Depth
3886
             </summary>
3887
             <returns>A dSpaceID</returns>
3888
             <param name="space">handle of space to replace</param>
3889
             <param name="Center">center of root block</param>
3890
             <param name="Extents">extents of root block</param>
3891
             <param name="Depth">depth of tree</param>
3892
        </member>
3893
        <member name="M:Tao.Ode.Ode.dQuadTreeSpaceCreate(System.IntPtr,System.Single@,System.Single@,System.Int32)">
3894
            <summary>
3895
            
3896
            </summary>
3897
            <param name="space"></param>
3898
            <param name="centerX"></param>
3899
            <param name="extentsX"></param>
3900
            <param name="depth"></param>
3901
            <returns></returns>
3902
        </member>
3903
        <member name="M:Tao.Ode.Ode.dSpaceDestroy(System.IntPtr)">
3904
            <summary>
3905
            This destroys a space.
3906
            It functions exactly like dGeomDestroy except that it takes a dSpaceID argument.
3907
            When a space is destroyed, if its cleanup mode is 1 (the default) then all the
3908
            geoms in that space are automatically destroyed as well.
3909
            </summary>
3910
            <param name="space">the space to destroy</param>
3911
        </member>
3912
        <member name="M:Tao.Ode.Ode.dHashSpaceSetLevels(System.IntPtr,System.Int32,System.Int32)">
3913
             <summary>
3914
             Sets some parameters for a multi-resolution hash table space.
3915
            
3916
             The smallest and largest cell sizes used in the hash table will be
3917
             2^minlevel and 2^maxlevel respectively.
3918
            
3919
             minlevel must be less than or equal to maxlevel.
3920
             </summary>
3921
             <param name="space">the space to modify</param>
3922
             <param name="minlevel">minimum level (determines smallest cell size).</param>
3923
             <param name="maxlevel">maximum level (determines largest cell size)</param>
3924
        </member>
3925
        <member name="M:Tao.Ode.Ode.dHashSpaceGetLevels(System.IntPtr,System.Int32@,System.Int32@)">
3926
             <summary>
3927
             Get some parameters for a multi-resolution hash table space.
3928
            
3929
             The smallest and largest cell sizes used in the hash table will be
3930
             2^minlevel and 2^maxlevel respectively.
3931
            
3932
             minlevel must be less than or equal to maxlevel.
3933
            
3934
             The minimum and maximum levels are returned through pointers.
3935
             If a pointer is zero then it is ignored and no argument is returned.
3936
             </summary>
3937
             <param name="space">the space to query</param>
3938
             <param name="minlevel">returns current minlevel</param>
3939
             <param name="maxlevel">returns current maxlevel</param>
3940
        </member>
3941
        <member name="M:Tao.Ode.Ode.dSpaceSetCleanup(System.IntPtr,System.Int32)">
3942
             <summary>
3943
             Set the clean-up mode of the space.
3944
            
3945
             If the clean-up mode is 1, then the contained geoms will be destroyed
3946
             when the space is destroyed.
3947
             If the clean-up mode is 0 this does not happen.
3948
            
3949
             The default clean-up mode for new spaces is 1.
3950
             </summary>
3951
             <param name="space">the space to set</param>
3952
             <param name="mode">the cleanup mode</param>
3953
        </member>
3954
        <member name="M:Tao.Ode.Ode.dSpaceGetCleanup(System.IntPtr)">
3955
            <summary>
3956
            Get the clean-up mode of the space.
3957
            </summary>
3958
            <returns>the current cleanup mode for the space</returns>
3959
            <param name="space">the space to query</param>
3960
        </member>
3961
        <member name="M:Tao.Ode.Ode.dSpaceAdd(System.IntPtr,System.IntPtr)">
3962
             <summary>
3963
             Add a geom to a space.
3964
            
3965
             This does nothing if the geom is already in the space.
3966
            
3967
             This function can be called automatically if a space argument is given to
3968
             a geom creation function.
3969
             </summary>
3970
             <param name="space">the space to add the geom to</param>
3971
             <param name="geom">the geom to be added</param>
3972
        </member>
3973
        <member name="M:Tao.Ode.Ode.dSpaceRemove(System.IntPtr,System.IntPtr)">
3974
             <summary>
3975
             Remove a geom from a space.
3976
            
3977
             This does nothing if the geom is not actually in the space.
3978
            
3979
             This function is called automatically by dGeomDestroy if the geom is in a space.
3980
             </summary>
3981
             <param name="space">the space containing the geom</param>
3982
             <param name="geom">the geom to be removed</param>
3983
        </member>
3984
        <member name="M:Tao.Ode.Ode.dSpaceQuery(System.IntPtr,System.IntPtr)">
3985
            <summary>
3986
            Return 1 if the given geom is in the given space, or return 0 if it is not.
3987
            </summary>
3988
            <returns>An int</returns>
3989
            <param name="space">the space to query</param>
3990
            <param name="geom">the geom to query</param>
3991
        </member>
3992
        <member name="M:Tao.Ode.Ode.dSpaceClean(System.IntPtr)">
3993
            <summary>
3994
            Cleans the space
3995
            </summary>
3996
            <param name="space">the space to clean</param>
3997
        </member>
3998
        <member name="M:Tao.Ode.Ode.dSpaceGetNumGeoms(System.IntPtr)">
3999
            <summary>
4000
            Return the number of geoms contained within a space.
4001
            </summary>
4002
            <returns>the number of geoms in the space</returns>
4003
            <param name="space">the space to query</param>
4004
        </member>
4005
        <member name="M:Tao.Ode.Ode.dSpaceGetGeom(System.IntPtr,System.Int32)">
4006
             <summary>
4007
             Return the i'th geom contained within the space.
4008
            
4009
             i must range from 0 to dSpaceGetNumGeoms()-1.
4010
            
4011
             If any change is made to the space (including adding and deleting geoms)
4012
             then no guarantee can be made about how the index number of any
4013
             particular geom will change. Thus no space changes should be made while
4014
             enumerating the geoms.
4015
             This function is guaranteed to be fastest when the geoms are accessed in
4016
             the order 0,1,2,etc. Other non-sequential orders may result in slower
4017
             access, depending on the internal implementation.
4018
             </summary>
4019
             <returns>a handle to the geom</returns>
4020
             <param name="space">the space to query</param>
4021
             <param name="i">the index number of the geom to get</param>
4022
        </member>
4023
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataCreate">
4024
            <summary>
4025
            Create a dTriMeshData object which is used to store mesh data.
4026
            </summary>
4027
            <returns>the id of the new trimesh data object</returns>
4028
        </member>
4029
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataDestroy(System.IntPtr)">
4030
            <summary>
4031
            Destroy a dTriMeshData object.
4032
            </summary>
4033
            <param name="g">the id of the trimesh data object to destroy</param>
4034
        </member>
4035
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataSet(System.IntPtr,System.Int32,System.IntPtr@)">
4036
             <summary>
4037
             In order to efficiently resolve collisions, dCollideTTL needs the
4038
             positions of the colliding trimeshes in the previous timestep. This is
4039
             used to calculate an estimated velocity of each colliding triangle, which
4040
             is used to find the direction of impact, contact normals, etc. This
4041
             requires the user to update these variables at every timestep. This update
4042
             is performed outside of ODE, so it is not included in ODE itself.
4043
             The code to do this looks something like this:
4044
            		const double *DoubleArrayPtr =
4045
            			Bodies[BodyIndex].TransformationMatrix->GetArray();
4046
            		dGeomTriMeshDataSet( TriMeshData,
4047
            			TRIMESH_LAST_TRANSFORMATION,
4048
            			(void *) DoubleArrayPtr );
4049
            
4050
             The transformation matrix is the standard 4x4 homogeneous transform matrix,
4051
             and the "DoubleArray" is the standard flattened array of the 16 matrix values.
4052
             </summary>
4053
             <param name="g">the trimesh dataset handle</param>
4054
             <param name="data_id">data id, like TRIMESH_LAST_TRANSFORMATION</param>
4055
             <param name="data">a reference to the "DoubleArray"</param>
4056
        </member>
4057
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataUpdate(System.IntPtr)">
4058
            <summary>
4059
            
4060
            </summary>
4061
            <param name="g"></param>
4062
        </member>
4063
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetData(System.IntPtr)">
4064
            <summary>
4065
            
4066
            </summary>
4067
            <param name="g"></param>
4068
            <returns></returns>
4069
        </member>
4070
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetLastTransformUnsafe(System.IntPtr)">
4071
            <summary>
4072
            
4073
            </summary>
4074
            <param name="geom"></param>
4075
            <returns></returns>
4076
        </member>
4077
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetLastTransform(System.IntPtr)">
4078
            <summary>
4079
            
4080
            </summary>
4081
            <param name="geom"></param>
4082
            <returns></returns>
4083
        </member>
4084
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildSingle(System.IntPtr,Tao.Ode.Ode.dVector3[],System.Int32,System.Int32,System.Int32[],System.Int32,System.Int32)">
4085
             <summary>
4086
             Build Trimesh data with single precision used in vertex data.
4087
             </summary>
4088
             <remarks>
4089
             Applies to all the dGeomTriMeshDataBuild single and double versions.
4090
            
4091
             (From http://ode.org/ode-latest-userguide.html#sec_10_7_6)
4092
            
4093
             Used for filling a dTriMeshData object with data.
4094
            
4095
             No data is copied here, so the pointers passed into this function must
4096
             remain valid.
4097
             This is how the strided data works:
4098
            		struct StridedVertex {
4099
            			dVector3 Vertex;  // 4th component can be left out, reducing memory usage
4100
            			// Userdata
4101
            		};
4102
            		int VertexStride = sizeof (StridedVertex);
4103
            
4104
            		struct StridedTri {
4105
            			int Indices[3];
4106
            			// Userdata
4107
            		};
4108
            		int TriStride = sizeof (StridedTri);
4109
            
4110
            	The Normals argument is optional: the normals of the faces of each
4111
             trimesh object. For example,
4112
            		dTriMeshDataID TriMeshData;
4113
            		TriMeshData = dGeomTriMeshGetTriMeshDataID (
4114
            			Bodies[BodyIndex].GeomID);
4115
            
4116
            		// as long as dReal == floats
4117
            		dGeomTriMeshDataBuildSingle (TriMeshData,
4118
            			// Vertices
4119
            			Bodies[BodyIndex].VertexPositions,
4120
            			3*sizeof(dReal), (int) numVertices,
4121
            			// Faces
4122
            			Bodies[BodyIndex].TriangleIndices,
4123
            			(int) NumTriangles, 3*sizeof(unsigned int),
4124
            			// Normals
4125
            			Bodies[BodyIndex].FaceNormals);
4126
            
4127
            	This pre-calculation saves some time during evaluation of the contacts,
4128
             but isn't necessary. If you don't want to calculate the face normals
4129
             before construction (or if you have enormous trimeshes and know that
4130
             only very few faces will be touching and want to save time), just pass
4131
             a "NULL" for the Normals argument, and dCollideTTL will take care of the
4132
             normal calculations itself.
4133
             </remarks>
4134
             <param name="g">A  dTriMeshDataID</param>
4135
             <param name="Vertices">A  dVector3[]</param>
4136
             <param name="VertexStride">An int</param>
4137
             <param name="VertexCount">An int</param>
4138
             <param name="Indices">An int[]</param>
4139
             <param name="IndexCount">An int</param>
4140
             <param name="TriStride">An int</param>
4141
        </member>
4142
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildSingle1(System.IntPtr,Tao.Ode.Ode.dVector3[],System.Int32,System.Int32,System.Int32[],System.Int32,System.Int32,Tao.Ode.Ode.dVector3[])">
4143
            <summary>
4144
            Build Trimesh data with single precision used in vertex data.
4145
            This function takes a normals array which is used as a trimesh-trimesh
4146
            optimization.
4147
            </summary>
4148
            <param name="g">A  dTriMeshDataID</param>
4149
            <param name="Vertices">A  dVector3[]</param>
4150
            <param name="VertexStride">An int</param>
4151
            <param name="VertexCount">An int</param>
4152
            <param name="Indices">An int[]</param>
4153
            <param name="IndexCount">An int</param>
4154
            <param name="TriStride">An int</param>
4155
            <param name="Normals">A  dVector3[]</param>
4156
        </member>
4157
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildDouble(System.IntPtr,Tao.Ode.Ode.dVector3,System.Int32,System.Int32,System.Int32[],System.Int32,System.Int32)">
4158
            <summary>
4159
            Build Trimesh data with double precision used in vertex data.
4160
            </summary>
4161
            <param name="g">A  dTriMeshDataID</param>
4162
            <param name="Vertices">A  dVector3</param>
4163
            <param name="VertexStride">An int</param>
4164
            <param name="VertexCount">An int</param>
4165
            <param name="Indices">An int[]</param>
4166
            <param name="IndexCount">An int</param>
4167
            <param name="TriStride">An int</param>
4168
        </member>
4169
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildDouble1(System.IntPtr,Tao.Ode.Ode.dVector3[],System.Int32,System.Int32,System.Int32[],System.Int32,System.Int32,Tao.Ode.Ode.dVector3[])">
4170
            <summary>
4171
            Build Trimesh data with double precision used in vertex data.
4172
            This function takes a normals array which is used as a trimesh-trimesh
4173
            optimization.
4174
            </summary>
4175
            <param name="g">A  dTriMeshDataID</param>
4176
            <param name="Vertices">A  dVector3[]</param>
4177
            <param name="VertexStride">An int</param>
4178
            <param name="VertexCount">An int</param>
4179
            <param name="Indices">An int[]</param>
4180
            <param name="IndexCount">An int</param>
4181
            <param name="TriStride">An int</param>
4182
            <param name="Normals">A  dVector3[]</param>
4183
        </member>
4184
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildDouble(System.IntPtr,System.IntPtr,System.Int32,System.Int32,System.IntPtr,System.Int32,System.Int32,System.IntPtr)">
4185
            <summary>
4186
            
4187
            </summary>
4188
            <param name="g"></param>
4189
            <param name="vertices"></param>
4190
            <param name="vertexStride"></param>
4191
            <param name="vertexCount"></param>
4192
            <param name="indices"></param>
4193
            <param name="indexCount"></param>
4194
            <param name="triStride"></param>
4195
            <param name="normals"></param>
4196
        </member>
4197
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildDouble(System.IntPtr,System.IntPtr,System.Int32,System.Int32,System.IntPtr,System.Int32,System.Int32)">
4198
            <summary>
4199
            
4200
            </summary>
4201
            <param name="g"></param>
4202
            <param name="vertices"></param>
4203
            <param name="vertexStride"></param>
4204
            <param name="vertexCount"></param>
4205
            <param name="indices"></param>
4206
            <param name="indexCount"></param>
4207
            <param name="triStride"></param>
4208
        </member>
4209
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildSimple(System.IntPtr,Tao.Ode.Ode.dVector3[],System.Int32,System.Int32[],System.Int32)">
4210
             <summary>
4211
             Simple trimesh build function provided for convenience.
4212
            
4213
             Uses single/double precision vertices and normals depending on the
4214
             current value of the dReal alias.
4215
             The precision to use depends on which version of the ODE library is being
4216
             used - single or double precision.  Depends on whether dSINGLE or dDOUBLE is
4217
             defined during ODE compilation.
4218
             </summary>
4219
             <param name="g">A  dTriMeshDataID</param>
4220
             <param name="Vertices">A  dVector3[]</param>
4221
             <param name="VertexCount">An int</param>
4222
             <param name="Indices">An int[]</param>
4223
             <param name="IndexCount">An int</param>
4224
        </member>
4225
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildSingle(System.IntPtr,System.IntPtr,System.Int32,System.Int32,System.IntPtr,System.Int32,System.Int32)">
4226
            <summary>
4227
            
4228
            </summary>
4229
            <param name="g"></param>
4230
            <param name="vertices"></param>
4231
            <param name="vertexStride"></param>
4232
            <param name="vertexCount"></param>
4233
            <param name="indices"></param>
4234
            <param name="indexCount"></param>
4235
            <param name="triStride"></param>
4236
        </member>
4237
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildSimple1(System.IntPtr,Tao.Ode.Ode.dVector3[],System.Int32,System.Int32[],System.Int32,Tao.Ode.Ode.dVector3[])">
4238
             <summary>
4239
             Simple trimesh build function provided for convenience.
4240
             This version takes a normals array to use for trimesh-trimesh optimization.
4241
            
4242
             Uses single/double precision vertices and normals depending on the
4243
             current value of the dReal alias.
4244
             The precision to use depends on which version of the ODE library is being
4245
             used - single or double precision.  Depends on whether dSINGLE or dDOUBLE is
4246
             defined during ODE compilation.
4247
             </summary>
4248
             <param name="g">A  dTriMeshDataID</param>
4249
             <param name="Vertices">A  dVector3[]</param>
4250
             <param name="VertexCount">An int</param>
4251
             <param name="Indices">An int[]</param>
4252
             <param name="IndexCount">An int</param>
4253
             <param name="Normals">A  dVector3[]</param>
4254
        </member>
4255
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataBuildSingle1(System.IntPtr,System.IntPtr,System.Int32,System.Int32,System.IntPtr,System.Int32,System.Int32,System.IntPtr)">
4256
            <summary>
4257
            
4258
            </summary>
4259
            <param name="g"></param>
4260
            <param name="vertices"></param>
4261
            <param name="vertexStride"></param>
4262
            <param name="vertexCount"></param>
4263
            <param name="indices"></param>
4264
            <param name="indexCount"></param>
4265
            <param name="triStride"></param>
4266
            <param name="normals"></param>
4267
        </member>
4268
        <member name="M:Tao.Ode.Ode.dGeomTriMeshSetCallback(System.IntPtr,Tao.Ode.Ode.dTriCallback)">
4269
            <summary>
4270
            Set per triangle callback for specified trimesh.
4271
            </summary>
4272
            <param name="g">A  dGeomID</param>
4273
            <param name="Callback">A  dTriCallback</param>
4274
        </member>
4275
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetCallback(System.IntPtr)">
4276
            <summary>
4277
            Get per triangle callback for specified trimesh.
4278
            </summary>
4279
            <returns>A dTriCallback</returns>
4280
            <param name="g">A  dGeomID</param>
4281
        </member>
4282
        <member name="M:Tao.Ode.Ode.dGeomTriMeshSetArrayCallback(System.IntPtr,Tao.Ode.Ode.dTriArrayCallback)">
4283
            <summary>
4284
            Set per object callback for specified trimesh.
4285
            </summary>
4286
            <param name="g">A  dGeomID</param>
4287
            <param name="ArrayCallback">A  dTriArrayCallback</param>
4288
        </member>
4289
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetArrayCallback(System.IntPtr)">
4290
            <summary>
4291
            Get per object callback for specified trimesh
4292
            </summary>
4293
            <returns>A dTriArrayCallback</returns>
4294
            <param name="g">A  dGeomID</param>
4295
        </member>
4296
        <member name="M:Tao.Ode.Ode.dGeomTriMeshSetRayCallback(System.IntPtr,Tao.Ode.Ode.dTriRayCallback)">
4297
            <summary>
4298
            Set ray callback for specified trimesh.
4299
            </summary>
4300
            <param name="g">A  dGeomID</param>
4301
            <param name="Callback">A  dTriRayCallback</param>
4302
        </member>
4303
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetRayCallback(System.IntPtr)">
4304
            <summary>
4305
            Get ray callback for specified trimesh.
4306
            </summary>
4307
            <returns>A dTriRayCallback</returns>
4308
            <param name="g">A  dGeomID</param>
4309
        </member>
4310
        <member name="M:Tao.Ode.Ode.dCreateTriMesh(System.IntPtr,System.IntPtr,Tao.Ode.Ode.dTriCallback,Tao.Ode.Ode.dTriArrayCallback,Tao.Ode.Ode.dTriRayCallback)">
4311
             <summary>
4312
             Trimesh class constructor.
4313
            
4314
             The Data member defines the vertex data the newly created triangle mesh will use.
4315
            
4316
             Callbacks are optional.
4317
             </summary>
4318
             <returns>A dGeomID</returns>
4319
             <param name="space">A  dSpaceID</param>
4320
             <param name="Data">A  dTriMeshDataID</param>
4321
             <param name="Callback">A  dTriCallback</param>
4322
             <param name="ArrayCallback">A  dTriArrayCallback</param>
4323
             <param name="RayCallback">A  dTriRayCallback</param>
4324
        </member>
4325
        <member name="M:Tao.Ode.Ode.dGeomTriMeshSetData(System.IntPtr,System.IntPtr)">
4326
            <summary>
4327
            Replaces the current vertex data.
4328
            </summary>
4329
            <param name="g">A  dGeomID</param>
4330
            <param name="Data">A  dTriMeshDataID</param>
4331
        </member>
4332
        <member name="M:Tao.Ode.Ode.dGeomTriMeshEnableTC(System.IntPtr,System.Int32,System.Int32)">
4333
            <summary>
4334
            Enable/disable the use of temporal coherence during tri-mesh collision checks.
4335
            Temporal coherence can be enabled/disabled per tri-mesh instance/geom class pair,
4336
            currently it works for spheres and boxes. The default for spheres and boxes is 'false'.
4337
            The 'enable' param should be 1 for true, 0 for false.
4338
            Temporal coherence is optional because allowing it can cause subtle efficiency problems
4339
            in situations where a tri-mesh may collide with many different geoms during its lifespan.
4340
            If you enable temporal coherence on a tri-mesh then these problems can be eased by
4341
            intermittently calling dGeomTriMeshClearTCCache for it.
4342
            </summary>
4343
            <param name="g">A  dGeomID</param>
4344
            <param name="geomClass">An int</param>
4345
            <param name="enable">An int</param>
4346
        </member>
4347
        <member name="M:Tao.Ode.Ode.dGeomTriMeshIsTCEnabled(System.IntPtr,System.Int32)">
4348
             <summary>
4349
             Checks whether the use of temporal coherence during tri-mesh collision checks is enabled.
4350
            
4351
             Returns 1 if enabled, 0 if not enabled.
4352
             </summary>
4353
             <returns>An int</returns>
4354
             <param name="g">A  dGeomID</param>
4355
             <param name="geomClass">An int</param>
4356
        </member>
4357
        <member name="M:Tao.Ode.Ode.dGeomTriMeshClearTCCache(System.IntPtr)">
4358
            <summary>
4359
            Clears the internal temporal coherence caches. When a geom has its
4360
            collision checked with a trimesh once, data is stored inside the trimesh.
4361
            With large worlds with lots of seperate objects this list could get huge.
4362
            </summary>
4363
            <param name="g">A  dGeomID</param>
4364
        </member>
4365
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataGet(System.IntPtr,System.Int32)">
4366
            <summary>
4367
            
4368
            </summary>
4369
            <param name="g"></param>
4370
            <param name="data_id"></param>
4371
            <returns></returns>
4372
        </member>
4373
        <member name="M:Tao.Ode.Ode.dGeomTriMeshDataPreprocess(System.IntPtr)">
4374
            <summary>
4375
            
4376
            </summary>
4377
            <param name="g"></param>
4378
        </member>
4379
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetTriMeshDataID(System.IntPtr)">
4380
            <summary>
4381
            Returns the TriMeshDataID for the specified geom.
4382
            </summary>
4383
            <returns>A dTriMeshDataID</returns>
4384
            <param name="g">A  dGeomID</param>
4385
        </member>
4386
        <member name="M:Tao.Ode.Ode.dGeomTriMeshSetLastTransform(System.IntPtr,Tao.Ode.Ode.dMatrix4@)">
4387
            <summary>
4388
            
4389
            </summary>
4390
            <param name="d"></param>
4391
            <param name="last_trans"></param>
4392
        </member>
4393
        <member name="M:Tao.Ode.Ode.dGeomTriMeshSetLastTransform(System.IntPtr,System.Single@)">
4394
            <summary>
4395
            
4396
            </summary>
4397
            <param name="d"></param>
4398
            <param name="M00"></param>
4399
        </member>
4400
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetTriangle(System.IntPtr,System.Int32,Tao.Ode.Ode.dVector3@,Tao.Ode.Ode.dVector3@,Tao.Ode.Ode.dVector3@)">
4401
            <summary>
4402
            Retrieves a triangle in object space. The v0, v1 and v2 arguments are optional.
4403
            </summary>
4404
            <param name="g">A  dGeomID</param>
4405
            <param name="Index">An int</param>
4406
            <param name="v0">A  dVector3</param>
4407
            <param name="v1">A  dVector3</param>
4408
            <param name="v2">A  dVector3</param>
4409
        </member>
4410
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetPoint(System.IntPtr,System.Int32,System.Single,System.Single,Tao.Ode.Ode.dVector3@)">
4411
            <summary>
4412
            Retrieves a position on the requested triangle and the given
4413
            barycentric coordinates
4414
            </summary>
4415
            <param name="g">A  dGeomID</param>
4416
            <param name="Index">An int</param>
4417
            <param name="u">A  dReal</param>
4418
            <param name="v">A  dReal</param>
4419
            <param name="Out">A  dVector3</param>
4420
        </member>
4421
        <member name="M:Tao.Ode.Ode.dGeomTriMeshGetTriangleCount(System.IntPtr)">
4422
            <summary>
4423
            
4424
            </summary>
4425
            <param name="d"></param>
4426
            <returns></returns>
4427
        </member>
4428
        <member name="M:Tao.Ode.Ode.dRSetIdentity(Tao.Ode.Ode.dMatrix3@)">
4429
            <summary>
4430
            Set R to the identity matrix (i.e. no rotation).
4431
            </summary>
4432
            <param name="R">A dMatrix3</param>
4433
        </member>
4434
        <member name="M:Tao.Ode.Ode.dRFromAxisAndAngle(Tao.Ode.Ode.dMatrix3@,System.Single,System.Single,System.Single,System.Single)">
4435
            <summary>
4436
            Compute the rotation matrix R as a rotation of angle radians along the axis (ax,ay,az).
4437
            </summary>
4438
            <param name="R">A dMatrix3</param>
4439
            <param name="ax">A dReal</param>
4440
            <param name="ay">A dReal</param>
4441
            <param name="az">A dReal</param>
4442
            <param name="angle">A dReal</param>
4443
        </member>
4444
        <member name="M:Tao.Ode.Ode.dRFromEulerAngles(Tao.Ode.Ode.dMatrix3@,System.Single,System.Single,System.Single)">
4445
            <summary>
4446
            Compute the rotation matrix R from the three Euler rotation angles.
4447
            </summary>
4448
            <param name="R">A dMatrix3</param>
4449
            <param name="phi">A dReal</param>
4450
            <param name="theta">A dReal</param>
4451
            <param name="psi">A dReal</param>
4452
        </member>
4453
        <member name="M:Tao.Ode.Ode.dRFrom2Axes(Tao.Ode.Ode.dMatrix3@,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
4454
            <summary>
4455
            Compute the rotation matrix R from the two vectors `a' (ax,ay,az) and `b' (bx,by,bz). `a' and `b' are the desired x and y axes of the rotated coordinate system. If necessary, `a' and `b' will be made unit length, and `b' will be projected so that it is perpendicular to `a'. The desired z axis is the cross product of `a' and `b'.
4456
            </summary>
4457
            <param name="R">A dMatrix3</param>
4458
            <param name="ax">A dReal</param>
4459
            <param name="ay">A dReal</param>
4460
            <param name="az">A dReal</param>
4461
            <param name="bx">A dReal</param>
4462
            <param name="by">A dReal</param>
4463
            <param name="bz">A dReal</param>
4464
        </member>
4465
        <member name="M:Tao.Ode.Ode.dRFromZAxis(System.Single[],System.Single,System.Single,System.Single)">
4466
            <summary>
4467
            TODO: Document Me
4468
            </summary>
4469
            <param name="R"></param>
4470
            <param name="ax"></param>
4471
            <param name="ay"></param>
4472
            <param name="az"></param>
4473
        </member>
4474
        <member name="M:Tao.Ode.Ode.dRFromZAxis(Tao.Ode.Ode.dMatrix3,System.Single,System.Single,System.Single)">
4475
            <summary>
4476
            ODE API compatability function due to dMatrix3 marshalling errors
4477
            </summary>
4478
            <param name="R"></param>
4479
            <param name="ax"></param>
4480
            <param name="ay"></param>
4481
            <param name="az"></param>
4482
        </member>
4483
        <member name="M:Tao.Ode.Ode.dQSetIdentity(Tao.Ode.Ode.dQuaternion@)">
4484
            <summary>
4485
            Set q to the identity rotation (i.e. no rotation).
4486
            </summary>
4487
            <param name="q">A dQuaternion</param>
4488
        </member>
4489
        <member name="M:Tao.Ode.Ode.dQFromAxisAndAngle(Tao.Ode.Ode.dQuaternion@,System.Single,System.Single,System.Single,System.Single)">
4490
            <summary>
4491
            Compute q as a rotation of angle radians along the axis (ax,ay,az).
4492
            </summary>
4493
            <param name="q">A dQuaternion</param>
4494
            <param name="ax">A dReal</param>
4495
            <param name="ay">A dReal</param>
4496
            <param name="az">A dReal</param>
4497
            <param name="angle">A dReal</param>
4498
        </member>
4499
        <member name="M:Tao.Ode.Ode.dQMultiply0(Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dQuaternion@)">
4500
            <summary>
4501
            Set qa = qb*qc. This is that same as qa = rotation qc followed by rotation qb. The 0/1/2 versions are analogous to the multiply functions, i.e. 1 uses the inverse of qb, and 2 uses the inverse of qc. Option 3 uses the inverse of both.
4502
            </summary>
4503
            <param name="qa">A dQuaternion</param>
4504
            <param name="qb">A returning dQuaternion</param>
4505
            <param name="qc">A returning dQuaternion</param>
4506
        </member>
4507
        <member name="M:Tao.Ode.Ode.dQMultiply1(Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dQuaternion@)">
4508
            <summary>
4509
            Set qa = qb*qc. This is that same as qa = rotation qc followed by rotation qb. The 0/1/2 versions are analogous to the multiply functions, i.e. 1 uses the inverse of qb, and 2 uses the inverse of qc. Option 3 uses the inverse of both.
4510
            </summary>
4511
            <param name="qa">A dQuaternion</param>
4512
            <param name="qb">A returning dQuaternion</param>
4513
            <param name="qc">A returning dQuaternion</param>
4514
        </member>
4515
        <member name="M:Tao.Ode.Ode.dQMultiply2(Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dQuaternion@)">
4516
            <summary>
4517
            Set qa = qb*qc. This is that same as qa = rotation qc followed by rotation qb. The 0/1/2 versions are analogous to the multiply functions, i.e. 1 uses the inverse of qb, and 2 uses the inverse of qc. Option 3 uses the inverse of both.
4518
            </summary>
4519
            <param name="qa">A dQuaternion</param>
4520
            <param name="qb">A returning dQuaternion</param>
4521
            <param name="qc">A returning dQuaternion</param>
4522
        </member>
4523
        <member name="M:Tao.Ode.Ode.dQMultiply3(Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dQuaternion@)">
4524
            <summary>
4525
            Set qa = qb*qc. This is that same as qa = rotation qc followed by rotation qb. The 0/1/2 versions are analogous to the multiply functions, i.e. 1 uses the inverse of qb, and 2 uses the inverse of qc. Option 3 uses the inverse of both.
4526
            </summary>
4527
            <param name="qa">A dQuaternion</param>
4528
            <param name="qb">A returning dQuaternion</param>
4529
            <param name="qc">A returning dQuaternion</param>
4530
        </member>
4531
        <member name="M:Tao.Ode.Ode.dQtoR(Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dMatrix3@)">
4532
            <summary>
4533
            Convert quaternion q to rotation matrix R.
4534
            </summary>
4535
            <param name="q">A dQuaternion</param>
4536
            <param name="R">A dMatrix3</param>
4537
        </member>
4538
        <member name="M:Tao.Ode.Ode.dRtoQ(Tao.Ode.Ode.dMatrix3@,Tao.Ode.Ode.dQuaternion@)">
4539
            <summary>
4540
            Convert rotation matrix R to quaternion q.
4541
            </summary>
4542
            <param name="R">A dMatrix3</param>
4543
            <param name="q">A dQuaternion</param>
4544
        </member>
4545
        <member name="M:Tao.Ode.Ode.dWtoDQ(Tao.Ode.Ode.dVector3@,Tao.Ode.Ode.dQuaternion@,Tao.Ode.Ode.dVector4@)">
4546
            <summary>
4547
            Given an existing orientation q and an angular velocity vector w, return in dq the resulting dq/dt.
4548
            </summary>
4549
            <param name="w">A dVector3</param>
4550
            <param name="q">A dQuaternion</param>
4551
            <param name="dq">A dVector4</param>
4552
        </member>
4553
        <member name="M:Tao.Ode.Ode.dBodyCopyPosition(System.IntPtr,Tao.Ode.Ode.dVector3@)">
4554
            <summary>
4555
            
4556
            </summary>
4557
            <param name="body"></param>
4558
            <param name="pos"></param>
4559
        </member>
4560
        <member name="M:Tao.Ode.Ode.dBodyCopyPosition(System.IntPtr,System.Single@)">
4561
            <summary>
4562
            
4563
            </summary>
4564
            <param name="body"></param>
4565
            <param name="X"></param>
4566
        </member>
4567
        <member name="M:Tao.Ode.Ode.dBodyCopyQuaternion(System.IntPtr,Tao.Ode.Ode.dQuaternion@)">
4568
            <summary>
4569
            
4570
            </summary>
4571
            <param name="body"></param>
4572
            <param name="quat"></param>
4573
        </member>
4574
        <member name="M:Tao.Ode.Ode.dBodyCopyQuaternion(System.IntPtr,System.Single@)">
4575
            <summary>
4576
            
4577
            </summary>
4578
            <param name="body"></param>
4579
            <param name="X"></param>
4580
        </member>
4581
        <member name="M:Tao.Ode.Ode.dBodyCopyRotation(System.IntPtr,Tao.Ode.Ode.dMatrix3@)">
4582
            <summary>
4583
            
4584
            </summary>
4585
            <param name="body"></param>
4586
            <param name="R"></param>
4587
        </member>
4588
        <member name="M:Tao.Ode.Ode.dBodyCopyRotation(System.IntPtr,System.Single@)">
4589
            <summary>
4590
            
4591
            </summary>
4592
            <param name="body"></param>
4593
            <param name="M00"></param>
4594
        </member>
4595
        <member name="M:Tao.Ode.Ode.dCreateHeightfield(System.IntPtr,System.IntPtr,System.Int32)">
4596
            <summary>
4597
            
4598
            </summary>
4599
            <param name="space"></param>
4600
            <param name="data"></param>
4601
            <param name="bPlaceable"></param>
4602
            <returns></returns>
4603
        </member>
4604
        <member name="M:Tao.Ode.Ode.dSetZero(System.Single@,System.Int32)">
4605
            <summary>
4606
            
4607
            </summary>
4608
            <param name="a"></param>
4609
            <param name="n"></param>
4610
        </member>
4611
        <member name="M:Tao.Ode.Ode.dSetValue(System.Single@,System.Int32)">
4612
            <summary>
4613
            
4614
            </summary>
4615
            <param name="a"></param>
4616
            <param name="n"></param>
4617
        </member>
4618
        <member name="M:Tao.Ode.Ode.dDot(System.Single@,System.Single@,System.Int32)">
4619
            <summary>
4620
            
4621
            </summary>
4622
            <param name="X0"></param>
4623
            <param name="X1"></param>
4624
            <param name="n"></param>
4625
            <returns></returns>
4626
        </member>
4627
        <member name="M:Tao.Ode.Ode.dJointCreatePlane2D(System.IntPtr,System.IntPtr)">
4628
            <summary>
4629
            
4630
            </summary>
4631
            <param name="world"></param>
4632
            <param name="group"></param>
4633
            <returns></returns>
4634
        </member>
4635
        <member name="M:Tao.Ode.Ode.dJointCreatePR(System.IntPtr,System.IntPtr)">
4636
            <summary>
4637
            
4638
            </summary>
4639
            <param name="world"></param>
4640
            <param name="group"></param>
4641
            <returns></returns>
4642
        </member>
4643
        <member name="M:Tao.Ode.Ode.dJointAddPRTorque(System.IntPtr,System.Single)">
4644
            <summary>
4645
            
4646
            </summary>
4647
            <param name="joint"></param>
4648
            <param name="torque"></param>
4649
        </member>
4650
        <member name="M:Tao.Ode.Ode.dFactorCholesky(System.Single@,System.Int32)">
4651
            <summary>
4652
            
4653
            </summary>
4654
            <param name="A00"></param>
4655
            <param name="n"></param>
4656
            <returns></returns>
4657
        </member>
4658
        <member name="M:Tao.Ode.Ode.dSolveCholesky(System.Single@,System.Single@,System.Int32)">
4659
            <summary>
4660
            
4661
            </summary>
4662
            <param name="L"></param>
4663
            <param name="b"></param>
4664
            <param name="n"></param>
4665
        </member>
4666
        <member name="M:Tao.Ode.Ode.dInvertPDMatrix(System.Single@,System.Single@,System.Int32)">
4667
            <summary>
4668
            
4669
            </summary>
4670
            <param name="A"></param>
4671
            <param name="Ainv"></param>
4672
            <param name="n"></param>
4673
            <returns></returns>
4674
        </member>
4675
        <member name="M:Tao.Ode.Ode.dIsPositiveDefinite(System.Single@,System.Int32)">
4676
            <summary>
4677
            
4678
            </summary>
4679
            <param name="A"></param>
4680
            <param name="n"></param>
4681
            <returns></returns>
4682
        </member>
4683
        <member name="M:Tao.Ode.Ode.dFactorLDLT(System.Single@,System.Single@,System.Int32,System.Int32)">
4684
            <summary>
4685
            
4686
            </summary>
4687
            <param name="A"></param>
4688
            <param name="d"></param>
4689
            <param name="n"></param>
4690
            <param name="nskip"></param>
4691
        </member>
4692
        <member name="M:Tao.Ode.Ode.dSolveL1T(System.Single@,System.Single@,System.Int32,System.Int32)">
4693
            <summary>
4694
            
4695
            </summary>
4696
            <param name="L"></param>
4697
            <param name="b"></param>
4698
            <param name="n"></param>
4699
            <param name="nskip"></param>
4700
        </member>
4701
        <member name="M:Tao.Ode.Ode.dVectorScale(System.Single@,System.Single@,System.Int32)">
4702
            <summary>
4703
            
4704
            </summary>
4705
            <param name="a"></param>
4706
            <param name="d"></param>
4707
            <param name="n"></param>
4708
        </member>
4709
        <member name="M:Tao.Ode.Ode.dLDLTAddTL(System.Single@,System.Single@,System.Single@,System.Int32,System.Int32)">
4710
            <summary>
4711
            
4712
            </summary>
4713
            <param name="L"></param>
4714
            <param name="d"></param>
4715
            <param name="a"></param>
4716
            <param name="n"></param>
4717
            <param name="nskip"></param>
4718
        </member>
4719
        <member name="M:Tao.Ode.Ode.dRandReal">
4720
            <summary>
4721
            
4722
            </summary>
4723
            <returns></returns>
4724
        </member>
4725
        <member name="T:Tao.Ode.Ode.dError">
4726
             <summary>
4727
            
4728
             </summary>
4729
        </member>
4730
        <member name="F:Tao.Ode.Ode.dError.d_ERR_UNKNOWN">
4731
             <summary>
4732
            
4733
             </summary>
4734
        </member>
4735
        <member name="F:Tao.Ode.Ode.dError.d_ERR_IASSERT">
4736
             <summary>
4737
            
4738
             </summary>
4739
        </member>
4740
        <member name="F:Tao.Ode.Ode.dError.d_ERR_UASSERT">
4741
             <summary>
4742
            
4743
             </summary>
4744
        </member>
4745
        <member name="F:Tao.Ode.Ode.dError.d_ERR_LCP">
4746
             <summary>
4747
            
4748
             </summary>
4749
        </member>
4750
        <member name="T:Tao.Ode.Ode.dJointTypes">
4751
             <summary>
4752
            
4753
             </summary>
4754
        </member>
4755
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeNone">
4756
             <summary>
4757
            
4758
             </summary>
4759
        </member>
4760
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeBall">
4761
             <summary>
4762
            
4763
             </summary>
4764
        </member>
4765
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeHinge">
4766
             <summary>
4767
            
4768
             </summary>
4769
        </member>
4770
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeSlider">
4771
             <summary>
4772
            
4773
             </summary>
4774
        </member>
4775
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeContact">
4776
             <summary>
4777
            
4778
             </summary>
4779
        </member>
4780
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeUniversal">
4781
             <summary>
4782
            
4783
             </summary>
4784
        </member>
4785
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeHinge2">
4786
             <summary>
4787
            
4788
             </summary>
4789
        </member>
4790
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeFixed">
4791
             <summary>
4792
            
4793
             </summary>
4794
        </member>
4795
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeNull">
4796
             <summary>
4797
            
4798
             </summary>
4799
        </member>
4800
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeAMotor">
4801
             <summary>
4802
            
4803
             </summary>
4804
        </member>
4805
        <member name="F:Tao.Ode.Ode.dJointTypes.dJointTypeLMotor">
4806
             <summary>
4807
            
4808
             </summary>
4809
        </member>
4810
        <member name="T:Tao.Ode.Ode.dJointParams">
4811
             <summary>
4812
             Definition of Joint limit and motor parameter names
4813
             If a particular parameter is not implemented by a given joint, setting it will have no effect.
4814
            
4815
             These parameter names can be optionally followed by a digit (2 or 3) to indicate the second or third set of parameters, e.g. for the second axis in a hinge-2 joint, or the third axis in an AMotor joint. A constant dParamGroup is also defined such that: dParamXi = dParamX + dParamGroup * (i-1)
4816
             </summary>
4817
             <remarks>
4818
             Implemented via a macro in Ode's common.h
4819
             Translated into actual constants here following inspection of common.h
4820
             A change in the Ode macro could require these values to be updated
4821
             </remarks>
4822
        </member>
4823
        <member name="F:Tao.Ode.Ode.dJointParams.dParamLoStop">
4824
            <summary>
4825
            Low stop angle or position. Setting this to -dInfinity (the default value) turns off the low stop. For rotational joints, this stop must be greater than - pi to be effective.
4826
            </summary>
4827
        </member>
4828
        <member name="F:Tao.Ode.Ode.dJointParams.dParamHiStop">
4829
            <summary>
4830
            High stop angle or position. Setting this to dInfinity (the default value) turns off the high stop. For rotational joints, this stop must be less than pi to be effective. If the high stop is less than the low stop then both stops will be ineffective.
4831
            </summary>
4832
        </member>
4833
        <member name="F:Tao.Ode.Ode.dJointParams.dParamVel">
4834
            <summary>
4835
            Desired motor velocity (this will be an angular or linear velocity).
4836
            </summary>
4837
        </member>
4838
        <member name="F:Tao.Ode.Ode.dJointParams.dParamFMax">
4839
            <summary>
4840
            The maximum force or torque that the motor will use to achieve the desired velocity. This must always be greater than or equal to zero. Setting this to zero (the default value) turns off the motor.
4841
            </summary>
4842
        </member>
4843
        <member name="F:Tao.Ode.Ode.dJointParams.dParamFudgeFactor">
4844
            <summary>
4845
            The current joint stop/motor implementation has a small problem: when the joint is at one stop and the motor is set to move it away from the stop, too much force may be applied for one time step, causing a ``jumping'' motion. This fudge factor is used to scale this excess force. It should have a value between zero and one (the default value). If the jumping motion is too visible in a joint, the value can be reduced. Making this value too small can prevent the motor from being able to move the joint away from a stop.
4846
            </summary>
4847
        </member>
4848
        <member name="F:Tao.Ode.Ode.dJointParams.dParamBounce">
4849
            <summary>
4850
            The bouncyness of the stops. This is a restitution parameter in the range 0..1. 0 means the stops are not bouncy at all, 1 means maximum bouncyness.
4851
            </summary>
4852
        </member>
4853
        <member name="F:Tao.Ode.Ode.dJointParams.dParamCFM">
4854
            <summary>
4855
            The constraint force mixing (CFM) value used when not at a stop.
4856
            </summary>
4857
        </member>
4858
        <member name="F:Tao.Ode.Ode.dJointParams.dParamStopERP">
4859
            <summary>
4860
            The error reduction parameter (ERP) used by the stops.
4861
            </summary>
4862
        </member>
4863
        <member name="F:Tao.Ode.Ode.dJointParams.dParamStopCFM">
4864
            <summary>
4865
            The constraint force mixing (CFM) value used by the stops. Together with the ERP value this can be used to get spongy or soft stops. Note that this is intended for unpowered joints, it does not really work as expected when a powered joint reaches its limit.
4866
            </summary>
4867
        </member>
4868
        <member name="F:Tao.Ode.Ode.dJointParams.dParamSuspensionERP">
4869
            <summary>
4870
            Suspension error reduction parameter (ERP). Currently this is only implemented on the hinge-2 joint.
4871
            </summary>
4872
        </member>
4873
        <member name="F:Tao.Ode.Ode.dJointParams.dParamSuspensionCFM">
4874
            <summary>
4875
            Suspension constraint force mixing (CFM) value. Currently this is only implemented on the hinge-2 joint.
4876
            </summary>
4877
        </member>
4878
        <member name="F:Tao.Ode.Ode.dJointParams.dParamLoStop2">
4879
             <summary>
4880
            
4881
             </summary>
4882
        </member>
4883
        <member name="F:Tao.Ode.Ode.dJointParams.dParamHiStop2">
4884
             <summary>
4885
            
4886
             </summary>
4887
        </member>
4888
        <member name="F:Tao.Ode.Ode.dJointParams.dParamVel2">
4889
             <summary>
4890
            
4891
             </summary>
4892
        </member>
4893
        <member name="F:Tao.Ode.Ode.dJointParams.dParamFMax2">
4894
             <summary>
4895
            
4896
             </summary>
4897
        </member>
4898
        <member name="F:Tao.Ode.Ode.dJointParams.dParamFudgeFactor2">
4899
             <summary>
4900
            
4901
             </summary>
4902
        </member>
4903
        <member name="F:Tao.Ode.Ode.dJointParams.dParamBounce2">
4904
             <summary>
4905
            
4906
             </summary>
4907
        </member>
4908
        <member name="F:Tao.Ode.Ode.dJointParams.dParamCFM2">
4909
             <summary>
4910
            
4911
             </summary>
4912
        </member>
4913
        <member name="F:Tao.Ode.Ode.dJointParams.dParamStopERP2">
4914
             <summary>
4915
            
4916
             </summary>
4917
        </member>
4918
        <member name="F:Tao.Ode.Ode.dJointParams.dParamStopCFM2">
4919
             <summary>
4920
            
4921
             </summary>
4922
        </member>
4923
        <member name="F:Tao.Ode.Ode.dJointParams.dParamSuspensionERP2">
4924
             <summary>
4925
            
4926
             </summary>
4927
        </member>
4928
        <member name="F:Tao.Ode.Ode.dJointParams.dParamSuspensionCFM2">
4929
             <summary>
4930
            
4931
             </summary>
4932
        </member>
4933
        <member name="F:Tao.Ode.Ode.dJointParams.dParamLoStop3">
4934
             <summary>
4935
            
4936
             </summary>
4937
        </member>
4938
        <member name="F:Tao.Ode.Ode.dJointParams.dParamHiStop3">
4939
             <summary>
4940
            
4941
             </summary>
4942
        </member>
4943
        <member name="F:Tao.Ode.Ode.dJointParams.dParamVel3">
4944
             <summary>
4945
            
4946
             </summary>
4947
        </member>
4948
        <member name="F:Tao.Ode.Ode.dJointParams.dParamFMax3">
4949
             <summary>
4950
            
4951
             </summary>
4952
        </member>
4953
        <member name="F:Tao.Ode.Ode.dJointParams.dParamFudgeFactor3">
4954
             <summary>
4955
            
4956
             </summary>
4957
        </member>
4958
        <member name="F:Tao.Ode.Ode.dJointParams.dParamBounce3">
4959
             <summary>
4960
            
4961
             </summary>
4962
        </member>
4963
        <member name="F:Tao.Ode.Ode.dJointParams.dParamCFM3">
4964
             <summary>
4965
            
4966
             </summary>
4967
        </member>
4968
        <member name="F:Tao.Ode.Ode.dJointParams.dParamStopERP3">
4969
             <summary>
4970
            
4971
             </summary>
4972
        </member>
4973
        <member name="F:Tao.Ode.Ode.dJointParams.dParamStopCFM3">
4974
             <summary>
4975
            
4976
             </summary>
4977
        </member>
4978
        <member name="F:Tao.Ode.Ode.dJointParams.dParamSuspensionERP3">
4979
             <summary>
4980
            
4981
             </summary>
4982
        </member>
4983
        <member name="F:Tao.Ode.Ode.dJointParams.dParamSuspensionCFM3">
4984
             <summary>
4985
            
4986
             </summary>
4987
        </member>
4988
        <member name="T:Tao.Ode.Ode.dAMotorMode">
4989
             <summary>
4990
            
4991
             </summary>
4992
        </member>
4993
        <member name="F:Tao.Ode.Ode.dAMotorMode.dAMotorUser">
4994
             <summary>
4995
            
4996
             </summary>
4997
        </member>
4998
        <member name="F:Tao.Ode.Ode.dAMotorMode.dAMotorEuler">
4999
             <summary>
5000
            
5001
             </summary>
5002
        </member>
5003
        <member name="T:Tao.Ode.Ode.dClassNumbers">
5004
            <summary>
5005
            class numbers - each geometry object needs a unique number
5006
            </summary>
5007
        </member>
5008
        <member name="F:Tao.Ode.Ode.dClassNumbers.dSphereClass">
5009
             <summary>
5010
            
5011
             </summary>
5012
        </member>
5013
        <member name="F:Tao.Ode.Ode.dClassNumbers.dBoxClass">
5014
             <summary>
5015
            
5016
             </summary>
5017
        </member>
5018
        <member name="F:Tao.Ode.Ode.dClassNumbers.dCapsuleClass">
5019
             <summary>
5020
            
5021
             </summary>
5022
        </member>
5023
        <member name="F:Tao.Ode.Ode.dClassNumbers.dCylinderClass">
5024
             <summary>
5025
            
5026
             </summary>
5027
        </member>
5028
        <member name="F:Tao.Ode.Ode.dClassNumbers.dPlaneClass">
5029
             <summary>
5030
            
5031
             </summary>
5032
        </member>
5033
        <member name="F:Tao.Ode.Ode.dClassNumbers.dRayClass">
5034
             <summary>
5035
            
5036
             </summary>
5037
        </member>
5038
        <member name="F:Tao.Ode.Ode.dClassNumbers.dConvexClass">
5039
             <summary>
5040
            
5041
             </summary>
5042
        </member>
5043
        <member name="F:Tao.Ode.Ode.dClassNumbers.dGeomTransformClass">
5044
             <summary>
5045
            
5046
             </summary>
5047
        </member>
5048
        <member name="F:Tao.Ode.Ode.dClassNumbers.dTriMeshClass">
5049
             <summary>
5050
            
5051
             </summary>
5052
        </member>
5053
        <member name="F:Tao.Ode.Ode.dClassNumbers.dFirstSpaceClass">
5054
             <summary>
5055
            
5056
             </summary>
5057
        </member>
5058
        <member name="F:Tao.Ode.Ode.dClassNumbers.dSimpleSpaceClass">
5059
             <summary>
5060
            
5061
             </summary>
5062
        </member>
5063
        <member name="F:Tao.Ode.Ode.dClassNumbers.dHashSpaceClass">
5064
             <summary>
5065
            
5066
             </summary>
5067
        </member>
5068
        <member name="F:Tao.Ode.Ode.dClassNumbers.dQuadTreeSpaceClass">
5069
             <summary>
5070
            
5071
             </summary>
5072
        </member>
5073
        <member name="F:Tao.Ode.Ode.dClassNumbers.dLastSpaceClass">
5074
             <summary>
5075
            
5076
             </summary>
5077
        </member>
5078
        <member name="F:Tao.Ode.Ode.dClassNumbers.dFirstUserClass">
5079
             <summary>
5080
            
5081
             </summary>
5082
        </member>
5083
        <member name="F:Tao.Ode.Ode.dClassNumbers.dLastUserClass">
5084
             <summary>
5085
            
5086
             </summary>
5087
        </member>
5088
        <member name="F:Tao.Ode.Ode.dClassNumbers.dGeomNumClasses">
5089
             <summary>
5090
            
5091
             </summary>
5092
        </member>
5093
        <member name="T:Tao.Ode.Ode.dBodyFlags">
5094
            <summary>
5095
            some body flags
5096
            ODE source location:  objects.h Ln 37
5097
            </summary>
5098
        </member>
5099
        <member name="F:Tao.Ode.Ode.dBodyFlags.dxBodyFlagFiniteRotation">
5100
            <summary>
5101
            use finite rotations
5102
            </summary>
5103
        </member>
5104
        <member name="F:Tao.Ode.Ode.dBodyFlags.dxBodyFlagFiniteRotationAxis">
5105
            <summary>
5106
            use finite rotations only along axis
5107
            </summary>
5108
        </member>
5109
        <member name="F:Tao.Ode.Ode.dBodyFlags.dxBodyDisabled">
5110
            <summary>
5111
            body is disabled
5112
            </summary>
5113
        </member>
5114
        <member name="F:Tao.Ode.Ode.dBodyFlags.dxBodyNoGravity">
5115
            <summary>
5116
            body is not influenced by gravity
5117
            </summary>
5118
        </member>
5119
        <member name="F:Tao.Ode.Ode.dBodyFlags.dxBodyAutoDisable">
5120
            <summary>
5121
            enable auto-disable on body
5122
            </summary>
5123
        </member>
5124
        <member name="T:Tao.Ode.Ode.dContactFlags">
5125
             <summary>
5126
            
5127
             </summary>
5128
        </member>
5129
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactMu2">
5130
             <summary>
5131
            
5132
             </summary>
5133
        </member>
5134
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactFDir1">
5135
             <summary>
5136
            
5137
             </summary>
5138
        </member>
5139
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactBounce">
5140
             <summary>
5141
            
5142
             </summary>
5143
        </member>
5144
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactSoftERP">
5145
             <summary>
5146
            
5147
             </summary>
5148
        </member>
5149
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactSoftCFM">
5150
             <summary>
5151
            
5152
             </summary>
5153
        </member>
5154
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactMotion1">
5155
             <summary>
5156
            
5157
             </summary>
5158
        </member>
5159
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactMotion2">
5160
             <summary>
5161
            
5162
             </summary>
5163
        </member>
5164
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactSlip1">
5165
             <summary>
5166
            
5167
             </summary>
5168
        </member>
5169
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactSlip2">
5170
             <summary>
5171
            
5172
             </summary>
5173
        </member>
5174
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactApprox0">
5175
             <summary>
5176
            
5177
             </summary>
5178
        </member>
5179
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactApprox1_1">
5180
             <summary>
5181
            
5182
             </summary>
5183
        </member>
5184
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactApprox1_2">
5185
             <summary>
5186
            
5187
             </summary>
5188
        </member>
5189
        <member name="F:Tao.Ode.Ode.dContactFlags.dContactApprox1">
5190
             <summary>
5191
            
5192
             </summary>
5193
        </member>
5194
        <member name="T:Tao.Ode.Ode.GeometryClass">
5195
            <summary>
5196
            
5197
            </summary>
5198
        </member>
5199
        <member name="F:Tao.Ode.Ode.GeometryClass.dSphereClass">
5200
            <summary>
5201
            
5202
            </summary>
5203
        </member>
5204
        <member name="F:Tao.Ode.Ode.GeometryClass.dBoxClass">
5205
            <summary>
5206
            
5207
            </summary>
5208
        </member>
5209
        <member name="F:Tao.Ode.Ode.GeometryClass.dCapsuleClass">
5210
            <summary>
5211
            
5212
            </summary>
5213
        </member>
5214
        <member name="F:Tao.Ode.Ode.GeometryClass.dCylinderClass">
5215
            <summary>
5216
            
5217
            </summary>
5218
        </member>
5219
        <member name="F:Tao.Ode.Ode.GeometryClass.dPlaneClass">
5220
            <summary>
5221
            
5222
            </summary>
5223
        </member>
5224
        <member name="F:Tao.Ode.Ode.GeometryClass.dRayClass">
5225
            <summary>
5226
            
5227
            </summary>
5228
        </member>
5229
        <member name="F:Tao.Ode.Ode.GeometryClass.dConvexClass">
5230
            <summary>
5231
            
5232
            </summary>
5233
        </member>
5234
        <member name="F:Tao.Ode.Ode.GeometryClass.dGeomTransformClass">
5235
            <summary>
5236
            
5237
            </summary>
5238
        </member>
5239
        <member name="F:Tao.Ode.Ode.GeometryClass.dTriMeshClass">
5240
            <summary>
5241
            
5242
            </summary>
5243
        </member>
5244
        <member name="F:Tao.Ode.Ode.GeometryClass.dHeightfieldClass">
5245
            <summary>
5246
            
5247
            </summary>
5248
        </member>
5249
        <member name="F:Tao.Ode.Ode.GeometryClass.dFirstSpaceClass">
5250
            <summary>
5251
            
5252
            </summary>
5253
        </member>
5254
        <member name="F:Tao.Ode.Ode.GeometryClass.dSimpleSpaceClass">
5255
            <summary>
5256
            
5257
            </summary>
5258
        </member>
5259
        <member name="F:Tao.Ode.Ode.GeometryClass.dHashSpaceClass">
5260
            <summary>
5261
            
5262
            </summary>
5263
        </member>
5264
        <member name="F:Tao.Ode.Ode.GeometryClass.dQuadTreeSpaceClass">
5265
            <summary>
5266
            
5267
            </summary>
5268
        </member>
5269
        <member name="F:Tao.Ode.Ode.GeometryClass.dLastSpaceClass">
5270
            <summary>
5271
            
5272
            </summary>
5273
        </member>
5274
        <member name="F:Tao.Ode.Ode.GeometryClass.dFirstUserClass">
5275
            <summary>
5276
            
5277
            </summary>
5278
        </member>
5279
        <member name="F:Tao.Ode.Ode.GeometryClass.dLastUserClass">
5280
            <summary>
5281
            
5282
            </summary>
5283
        </member>
5284
        <member name="F:Tao.Ode.Ode.GeometryClass.dGeomNumClasses">
5285
            <summary>
5286
            
5287
            </summary>
5288
        </member>
5289
        <member name="F:Tao.Ode.Ode.GeometryClass.dMaxUserClasses">
5290
            <summary>
5291
            
5292
            </summary>
5293
        </member>
5294
        <member name="T:Tao.Ode.Ode.dMass">
5295
            <summary>
5296
            Describes the mass parameters of a rigid body
5297
            </summary>
5298
            <remarks>
5299
            mass - the total mass of the rigid body
5300
            c - center of gravity position in body frame (x,y,z)
5301
            I - 3x3 inertia tensor in body frame, about POR
5302
            </remarks>
5303
        </member>
5304
        <member name="M:Tao.Ode.Ode.dMass.#ctor(System.Single,Tao.Ode.Ode.dVector4,Tao.Ode.Ode.dMatrix3)">
5305
             <summary>
5306
            
5307
             </summary>
5308
             <param name="_mass"></param>
5309
             <param name="_c"></param>
5310
             <param name="_I"></param>
5311
        </member>
5312
        <member name="F:Tao.Ode.Ode.dMass.mass">
5313
             <summary>
5314
            
5315
             </summary>
5316
        </member>
5317
        <member name="F:Tao.Ode.Ode.dMass.c">
5318
             <summary>
5319
            
5320
             </summary>
5321
        </member>
5322
        <member name="F:Tao.Ode.Ode.dMass.I">
5323
             <summary>
5324
            
5325
             </summary>
5326
        </member>
5327
        <member name="T:Tao.Ode.Ode.dContactGeom">
5328
            <summary>
5329
            Contact info set by collision functions
5330
            </summary>
5331
        </member>
5332
        <member name="F:Tao.Ode.Ode.dContactGeom.pos">
5333
            <summary>
5334
            The contact position in global coordinates.
5335
            </summary>
5336
        </member>
5337
        <member name="F:Tao.Ode.Ode.dContactGeom.normal">
5338
            <summary>
5339
            A unit length vector that is, generally speaking, perpendicular to the contact surface.
5340
            </summary>
5341
        </member>
5342
        <member name="F:Tao.Ode.Ode.dContactGeom.depth">
5343
            <summary>
5344
            The depth to which the two bodies inter-penetrate each other.
5345
            If the depth is zero then the two bodies have a grazing contact,
5346
            i.e. they "only just" touch. However, this is rare - the simulation is
5347
            not perfectly accurate and will often step the bodies too far so that
5348
            the depth is nonzero.
5349
            </summary>
5350
        </member>
5351
        <member name="F:Tao.Ode.Ode.dContactGeom.g1">
5352
            <summary>
5353
            The geometry objects that collided.
5354
            </summary>
5355
        </member>
5356
        <member name="F:Tao.Ode.Ode.dContactGeom.g2">
5357
            <summary>
5358
            The geometry objects that collided.
5359
            </summary>
5360
        </member>
5361
        <member name="F:Tao.Ode.Ode.dContactGeom.side1">
5362
            <summary>
5363
            (to be documented) - verbatim from the ODE source.
5364
            </summary>
5365
        </member>
5366
        <member name="F:Tao.Ode.Ode.dContactGeom.side2">
5367
            <summary>
5368
            (to be documented) - verbatim from the ODE source.
5369
            </summary>
5370
        </member>
5371
        <member name="T:Tao.Ode.Ode.dSurfaceParameters">
5372
            <summary>
5373
            Defines the properties of the colliding surfaces
5374
            </summary>
5375
        </member>
5376
        <member name="M:Tao.Ode.Ode.dSurfaceParameters.#ctor(System.Int32,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
5377
             <summary>
5378
            
5379
             </summary>
5380
        </member>
5381
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.mode">
5382
             <summary>
5383
             Contact flags. This must always be set. This is a combination of one or more of the following flags:
5384
            
5385
             dContactMu2			If not set, use mu for both friction directions.
5386
             					If set, use mu for friction direction 1, use mu2 for friction direction 2.
5387
             dContactFDir1		If set, take fdir1 as friction direction 1, otherwise automatically compute
5388
             					friction direction 1 to be perpendicular to the contact normal (in which
5389
             					case its resulting orientation is unpredictable).
5390
             dContactBounce		If set, the contact surface is bouncy, in other words the bodies will
5391
             					bounce off each other. The exact amount of bouncyness is controlled by
5392
             					the bounce parameter.
5393
            	dContactSoftERP		If set, the error reduction parameter of the contact normal can be set
5394
             					with the soft_erp parameter. This is useful to make surfaces soft.
5395
            	dContactSoftCFM		If set, the constraint force mixing parameter of the contact normal
5396
             					can be set with the soft_cfm parameter. This is useful to make surfaces soft.
5397
            	dContactMotion1		If set, the contact surface is assumed to be moving independently of the
5398
             					motion of the bodies. This is kind of like a conveyor belt running over
5399
             					the surface. When this flag is set, motion1 defines the surface velocity
5400
             					in friction direction 1.
5401
            	dContactMotion2		The same thing as above, but for friction direction 2.
5402
             dContactSlip1		Force-dependent-slip (FDS) in friction direction 1.
5403
            	dContactSlip2		Force-dependent-slip (FDS) in friction direction 2.
5404
             dContactApprox0		TODO: Document me
5405
            	dContactApprox1_1	Use the friction pyramid approximation for friction direction 1. If this is
5406
             					not specified then the constant-force-limit approximation is used (and mu is
5407
             					a force limit).
5408
             dContactApprox1_2	Use the friction pyramid approximation for friction direction 2. If this is
5409
             					not specified then the constant-force-limit approximation is used (and mu is
5410
             					a force limit).
5411
             dContactApprox1		Equivalent to both dContactApprox1_1 and dContactApprox1_2.
5412
             </summary>
5413
        </member>
5414
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.mu">
5415
             <summary>
5416
             Coulomb friction coefficient.
5417
             This must be in the range 0 to dInfinity.
5418
             0 results in a frictionless contact, and dInfinity results in a contact that never slips.
5419
             Note that frictionless contacts are less time consuming to compute than ones with friction,
5420
             and infinite friction contacts can be cheaper than contacts with finite friction.
5421
            
5422
             This must always be set.
5423
             </summary>
5424
        </member>
5425
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.mu2">
5426
             <summary>
5427
             Optional Coulomb friction coefficient for friction direction 2 (0..dInfinity).
5428
            
5429
             This is only set if the corresponding flag is set in mode.
5430
             </summary>
5431
        </member>
5432
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.bounce">
5433
             <summary>
5434
             Restitution parameter (0..1).
5435
             0 means the surfaces are not bouncy at all, 1 is maximum bouncyness.
5436
            
5437
             This is only set if the corresponding flag is set in mode.
5438
             </summary>
5439
        </member>
5440
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.bounce_vel">
5441
             <summary>
5442
             Restitution parameter (0..1).
5443
             0 means the surfaces are not bouncy at all, 1 is maximum bouncyness.
5444
            
5445
             This is only set if the corresponding flag is set in mode.
5446
             </summary>
5447
        </member>
5448
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.soft_erp">
5449
             <summary>
5450
             Contact normal ``softness'' parameter.
5451
            
5452
             This is only set if the corresponding flag is set in mode.
5453
             </summary>
5454
        </member>
5455
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.soft_cfm">
5456
             <summary>
5457
             Contact normal ``softness'' parameter.
5458
            
5459
             This is only set if the corresponding flag is set in mode.
5460
             </summary>
5461
        </member>
5462
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.motion1">
5463
             <summary>
5464
             Surface velocity in friction directions 1 (in m/s).
5465
            
5466
             Only set if the corresponding flags are set in mode.
5467
             </summary>
5468
        </member>
5469
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.motion2">
5470
             <summary>
5471
             Surface velocity in friction directions 1 (in m/s).
5472
            
5473
             Only set if the corresponding flags are set in mode.
5474
             </summary>
5475
        </member>
5476
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.slip1">
5477
             <summary>
5478
             The coefficients of force-dependent-slip (FDS) for friction directions 1 and 2.
5479
            
5480
             These are only set if the corresponding flags are set in mode.
5481
            
5482
             FDS is an effect that causes the contacting surfaces to side past each other with a
5483
             velocity that is proportional to the force that is being applied tangentially to that surface.
5484
            
5485
            	Consider a contact point where the coefficient of friction mu is infinite. Normally, if a
5486
             force f is applied to the two contacting surfaces, to try and get them to slide past each
5487
             other, they will not move. However, if the FDS coefficient is set to a positive value k
5488
             then the surfaces will slide past each other, building up to a steady velocity of k*f
5489
             relative to each other.
5490
            
5491
             Note that this is quite different from normal frictional effects: the force does not
5492
             cause a constant acceleration of the surfaces relative to each other - it causes a
5493
             brief acceleration to achieve the steady velocity.
5494
            
5495
            	This is useful for modeling some situations, in particular tires. For example consider
5496
             a car at rest on a road. Pushing the car in its direction of travel will cause it to
5497
             start moving (i.e. the tires will start rolling). Pushing the car in the perpendicular
5498
             direction will have no effect, as the tires do not roll in that direction. However - if
5499
             the car is moving at a velocity v, applying a force f in the perpendicular direction will
5500
             cause the tires to slip on the road with a velocity proportional to f*v (Yes, this really
5501
             happens).
5502
            
5503
            	To model this in ODE set the tire-road contact parameters as follows: set friction direction 1
5504
             in the direction that the tire is rolling in, and set the FDS slip coefficient in friction
5505
             direction 2 to k*v, where v is the tire rolling velocity and k is a tire parameter that you can
5506
             choose based on experimentation.
5507
            
5508
            	Note that FDS is quite separate from the sticking/slipping effects of Coulomb friction - both
5509
             modes can be used together at a single contact point.
5510
             </summary>
5511
        </member>
5512
        <member name="F:Tao.Ode.Ode.dSurfaceParameters.slip2">
5513
             <summary>
5514
             The coefficients of force-dependent-slip (FDS) for friction directions 1 and 2.
5515
            
5516
             These are only set if the corresponding flags are set in mode.
5517
            
5518
             FDS is an effect that causes the contacting surfaces to side past each other with a
5519
             velocity that is proportional to the force that is being applied tangentially to that surface.
5520
            
5521
            	Consider a contact point where the coefficient of friction mu is infinite. Normally, if a
5522
             force f is applied to the two contacting surfaces, to try and get them to slide past each
5523
             other, they will not move. However, if the FDS coefficient is set to a positive value k
5524
             then the surfaces will slide past each other, building up to a steady velocity of k*f
5525
             relative to each other.
5526
            
5527
             Note that this is quite different from normal frictional effects: the force does not
5528
             cause a constant acceleration of the surfaces relative to each other - it causes a
5529
             brief acceleration to achieve the steady velocity.
5530
            
5531
            	This is useful for modeling some situations, in particular tires. For example consider
5532
             a car at rest on a road. Pushing the car in its direction of travel will cause it to
5533
             start moving (i.e. the tires will start rolling). Pushing the car in the perpendicular
5534
             direction will have no effect, as the tires do not roll in that direction. However - if
5535
             the car is moving at a velocity v, applying a force f in the perpendicular direction will
5536
             cause the tires to slip on the road with a velocity proportional to f*v (Yes, this really
5537
             happens).
5538
            
5539
            	To model this in ODE set the tire-road contact parameters as follows: set friction direction 1
5540
             in the direction that the tire is rolling in, and set the FDS slip coefficient in friction
5541
             direction 2 to k*v, where v is the tire rolling velocity and k is a tire parameter that you can
5542
             choose based on experimentation.
5543
            
5544
            	Note that FDS is quite separate from the sticking/slipping effects of Coulomb friction - both
5545
             modes can be used together at a single contact point.
5546
             </summary>
5547
        </member>
5548
        <member name="T:Tao.Ode.Ode.dContact">
5549
            <summary>
5550
            Contact structure used by contact joint
5551
            </summary>
5552
        </member>
5553
        <member name="M:Tao.Ode.Ode.dContact.#ctor(Tao.Ode.Ode.dSurfaceParameters,Tao.Ode.Ode.dContactGeom,Tao.Ode.Ode.dVector3)">
5554
             <summary>
5555
            
5556
             </summary>
5557
             <param name="_surface"></param>
5558
             <param name="_geom"></param>
5559
             <param name="_fdir1"></param>
5560
        </member>
5561
        <member name="F:Tao.Ode.Ode.dContact.surface">
5562
             <summary>
5563
            
5564
             </summary>
5565
        </member>
5566
        <member name="F:Tao.Ode.Ode.dContact.geom">
5567
             <summary>
5568
            
5569
             </summary>
5570
        </member>
5571
        <member name="F:Tao.Ode.Ode.dContact.fdir1">
5572
             <summary>
5573
            
5574
             </summary>
5575
        </member>
5576
        <member name="T:Tao.Ode.Ode.dVector3">
5577
             <summary>
5578
            
5579
             </summary>
5580
        </member>
5581
        <member name="M:Tao.Ode.Ode.dVector3.#ctor(System.Single,System.Single,System.Single)">
5582
             <summary>
5583
            
5584
             </summary>
5585
             <param name="x"></param>
5586
             <param name="y"></param>
5587
             <param name="z"></param>
5588
        </member>
5589
        <member name="F:Tao.Ode.Ode.dVector3.X">
5590
             <summary>
5591
            
5592
             </summary>
5593
        </member>
5594
        <member name="F:Tao.Ode.Ode.dVector3.Y">
5595
             <summary>
5596
            
5597
             </summary>
5598
        </member>
5599
        <member name="F:Tao.Ode.Ode.dVector3.Z">
5600
             <summary>
5601
            
5602
             </summary>
5603
        </member>
5604
        <member name="F:Tao.Ode.Ode.dVector3.SIMD_PADDING">
5605
             <summary>
5606
             In ODE's common.h: typedef dReal dVector3[4];
5607
            
5608
             From ODE mailing list:
5609
             dVector3 is a dReal[4] to allow for future SIMD extension (the dMatrix3 is
5610
             similarily defined).
5611
            
5612
            	However, there may already be a speed difference by defining it as a
5613
            	dReal[4]; the reason is that properly alligned memory data can be accessed
5614
            	more efficiently by the CPU. You should go to great lengths to ensure that
5615
            	every instance of dVector3 in your projects are atleast 4-byte aligned
5616
            	(virtually default), 16-byte alignments are better still and usually need to
5617
            	be enforced.
5618
            
5619
            	This ensures that memory access (read/write) can be performed just a little
5620
            	bit faster.
5621
            
5622
            	For example:
5623
            	You'll notice that if you used dReal[3] for an array of dVector3, then not
5624
            	every vector would fall onto a 16-byte boundary (provided that the first
5625
            	vector was properly alligned). Whereas it is guaranteed with dReal[4]
5626
            	(provided that the first vector was properly alligned).
5627
             </summary>
5628
        </member>
5629
        <member name="M:Tao.Ode.Ode.dVector3.ToArray">
5630
             <summary>
5631
            
5632
             </summary>
5633
             <returns></returns>
5634
        </member>
5635
        <member name="P:Tao.Ode.Ode.dVector3.Item(System.Int32)">
5636
            <summary>
5637
            Indexer to support use of array syntax as found in ODE examples
5638
            X = 0, Y = 1, Z = 2
5639
            </summary>
5640
        </member>
5641
        <member name="T:Tao.Ode.Ode.dVector4">
5642
             <summary>
5643
            
5644
             </summary>
5645
        </member>
5646
        <member name="M:Tao.Ode.Ode.dVector4.#ctor(System.Single,System.Single,System.Single,System.Single)">
5647
             <summary>
5648
            
5649
             </summary>
5650
             <param name="x"></param>
5651
             <param name="y"></param>
5652
             <param name="z"></param>
5653
             <param name="w"></param>
5654
        </member>
5655
        <member name="F:Tao.Ode.Ode.dVector4.X">
5656
             <summary>
5657
            
5658
             </summary>
5659
        </member>
5660
        <member name="F:Tao.Ode.Ode.dVector4.Y">
5661
             <summary>
5662
            
5663
             </summary>
5664
        </member>
5665
        <member name="F:Tao.Ode.Ode.dVector4.Z">
5666
             <summary>
5667
            
5668
             </summary>
5669
        </member>
5670
        <member name="F:Tao.Ode.Ode.dVector4.W">
5671
             <summary>
5672
            
5673
             </summary>
5674
        </member>
5675
        <member name="M:Tao.Ode.Ode.dVector4.ToArray">
5676
             <summary>
5677
            
5678
             </summary>
5679
             <returns></returns>
5680
        </member>
5681
        <member name="P:Tao.Ode.Ode.dVector4.Item(System.Int32)">
5682
            <summary>
5683
            Indexer to support use of array syntax as found in ODE examples
5684
            X = 0, Y = 1, Z = 2, W = 3
5685
            </summary>
5686
        </member>
5687
        <member name="T:Tao.Ode.Ode.dQuaternion">
5688
             <summary>
5689
            
5690
             </summary>
5691
        </member>
5692
        <member name="M:Tao.Ode.Ode.dQuaternion.#ctor(System.Single,System.Single,System.Single,System.Single)">
5693
             <summary>
5694
            
5695
             </summary>
5696
             <param name="x"></param>
5697
             <param name="y"></param>
5698
             <param name="z"></param>
5699
             <param name="w"></param>
5700
        </member>
5701
        <member name="F:Tao.Ode.Ode.dQuaternion.W">
5702
             <summary>
5703
            
5704
             </summary>
5705
        </member>
5706
        <member name="F:Tao.Ode.Ode.dQuaternion.X">
5707
             <summary>
5708
            
5709
             </summary>
5710
        </member>
5711
        <member name="F:Tao.Ode.Ode.dQuaternion.Y">
5712
             <summary>
5713
            
5714
             </summary>
5715
        </member>
5716
        <member name="F:Tao.Ode.Ode.dQuaternion.Z">
5717
             <summary>
5718
            
5719
             </summary>
5720
        </member>
5721
        <member name="M:Tao.Ode.Ode.dQuaternion.ToArray">
5722
             <summary>
5723
            
5724
             </summary>
5725
             <returns></returns>
5726
        </member>
5727
        <member name="P:Tao.Ode.Ode.dQuaternion.Item(System.Int32)">
5728
            <summary>
5729
            Indexer to support use of array syntax as found in ODE examples
5730
            X = 0, Y = 1, Z = 2, W = 3
5731
            </summary>
5732
        </member>
5733
        <member name="T:Tao.Ode.Ode.Aabb">
5734
             <summary>
5735
            
5736
             </summary>
5737
        </member>
5738
        <member name="M:Tao.Ode.Ode.Aabb.#ctor(System.Single,System.Single,System.Single,System.Single,System.Single,System.Single)">
5739
             <summary>
5740
            
5741
             </summary>
5742
             <param name="_minx"></param>
5743
             <param name="_maxx"></param>
5744
             <param name="_miny"></param>
5745
             <param name="_maxy"></param>
5746
             <param name="_minz"></param>
5747
             <param name="_maxz"></param>
5748
        </member>
5749
        <member name="F:Tao.Ode.Ode.Aabb.minx">
5750
             <summary>
5751
            
5752
             </summary>
5753
        </member>
5754
        <member name="F:Tao.Ode.Ode.Aabb.maxx">
5755
             <summary>
5756
            
5757
             </summary>
5758
        </member>
5759
        <member name="F:Tao.Ode.Ode.Aabb.miny">
5760
             <summary>
5761
            
5762
             </summary>
5763
        </member>
5764
        <member name="F:Tao.Ode.Ode.Aabb.maxy">
5765
             <summary>
5766
            
5767
             </summary>
5768
        </member>
5769
        <member name="F:Tao.Ode.Ode.Aabb.minz">
5770
             <summary>
5771
            
5772
             </summary>
5773
        </member>
5774
        <member name="F:Tao.Ode.Ode.Aabb.maxz">
5775
             <summary>
5776
            
5777
             </summary>
5778
        </member>
5779
        <member name="T:Tao.Ode.Ode.dMatrix3">
5780
             <summary>
5781
            
5782
             </summary>
5783
        </member>
5784
        <member name="M:Tao.Ode.Ode.dMatrix3.#ctor(System.Single[])">
5785
             <summary>
5786
            
5787
             </summary>
5788
             <param name="values"></param>
5789
        </member>
5790
        <member name="F:Tao.Ode.Ode.dMatrix3.M00">
5791
             <summary>
5792
            
5793
             </summary>
5794
        </member>
5795
        <member name="F:Tao.Ode.Ode.dMatrix3.M01">
5796
             <summary>
5797
            
5798
             </summary>
5799
        </member>
5800
        <member name="F:Tao.Ode.Ode.dMatrix3.M02">
5801
             <summary>
5802
            
5803
             </summary>
5804
        </member>
5805
        <member name="F:Tao.Ode.Ode.dMatrix3.M03">
5806
             <summary>
5807
            
5808
             </summary>
5809
        </member>
5810
        <member name="F:Tao.Ode.Ode.dMatrix3.M10">
5811
             <summary>
5812
            
5813
             </summary>
5814
        </member>
5815
        <member name="F:Tao.Ode.Ode.dMatrix3.M11">
5816
             <summary>
5817
            
5818
             </summary>
5819
        </member>
5820
        <member name="F:Tao.Ode.Ode.dMatrix3.M12">
5821
             <summary>
5822
            
5823
             </summary>
5824
        </member>
5825
        <member name="F:Tao.Ode.Ode.dMatrix3.M13">
5826
             <summary>
5827
            
5828
             </summary>
5829
        </member>
5830
        <member name="F:Tao.Ode.Ode.dMatrix3.M20">
5831
             <summary>
5832
            
5833
             </summary>
5834
        </member>
5835
        <member name="F:Tao.Ode.Ode.dMatrix3.M21">
5836
             <summary>
5837
            
5838
             </summary>
5839
        </member>
5840
        <member name="F:Tao.Ode.Ode.dMatrix3.M22">
5841
             <summary>
5842
            
5843
             </summary>
5844
        </member>
5845
        <member name="F:Tao.Ode.Ode.dMatrix3.M23">
5846
             <summary>
5847
            
5848
             </summary>
5849
        </member>
5850
        <member name="M:Tao.Ode.Ode.dMatrix3.ToArray">
5851
             <summary>
5852
            
5853
             </summary>
5854
             <returns></returns>
5855
        </member>
5856
        <member name="P:Tao.Ode.Ode.dMatrix3.Item(System.Int32)">
5857
             <summary>
5858
            
5859
             </summary>
5860
             <param name="index"></param>
5861
             <returns></returns>
5862
        </member>
5863
        <member name="P:Tao.Ode.Ode.dMatrix3.Item(System.Int32,System.Int32)">
5864
             <summary>
5865
            
5866
             </summary>
5867
             <param name="x"></param>
5868
             <param name="y"></param>
5869
             <returns></returns>
5870
        </member>
5871
        <member name="T:Tao.Ode.Ode.dMatrix4">
5872
             <summary>
5873
            
5874
             </summary>
5875
        </member>
5876
        <member name="M:Tao.Ode.Ode.dMatrix4.#ctor(System.Single[])">
5877
             <summary>
5878
            
5879
             </summary>
5880
             <param name="values"></param>
5881
        </member>
5882
        <member name="F:Tao.Ode.Ode.dMatrix4.M00">
5883
             <summary>
5884
            
5885
             </summary>
5886
        </member>
5887
        <member name="F:Tao.Ode.Ode.dMatrix4.M01">
5888
             <summary>
5889
            
5890
             </summary>
5891
        </member>
5892
        <member name="F:Tao.Ode.Ode.dMatrix4.M02">
5893
             <summary>
5894
            
5895
             </summary>
5896
        </member>
5897
        <member name="F:Tao.Ode.Ode.dMatrix4.M03">
5898
             <summary>
5899
            
5900
             </summary>
5901
        </member>
5902
        <member name="F:Tao.Ode.Ode.dMatrix4.M10">
5903
             <summary>
5904
            
5905
             </summary>
5906
        </member>
5907
        <member name="F:Tao.Ode.Ode.dMatrix4.M11">
5908
             <summary>
5909
            
5910
             </summary>
5911
        </member>
5912
        <member name="F:Tao.Ode.Ode.dMatrix4.M12">
5913
             <summary>
5914
            
5915
             </summary>
5916
        </member>
5917
        <member name="F:Tao.Ode.Ode.dMatrix4.M13">
5918
             <summary>
5919
            
5920
             </summary>
5921
        </member>
5922
        <member name="F:Tao.Ode.Ode.dMatrix4.M20">
5923
             <summary>
5924
            
5925
             </summary>
5926
        </member>
5927
        <member name="F:Tao.Ode.Ode.dMatrix4.M21">
5928
             <summary>
5929
            
5930
             </summary>
5931
        </member>
5932
        <member name="F:Tao.Ode.Ode.dMatrix4.M22">
5933
             <summary>
5934
            
5935
             </summary>
5936
        </member>
5937
        <member name="F:Tao.Ode.Ode.dMatrix4.M23">
5938
             <summary>
5939
            
5940
             </summary>
5941
        </member>
5942
        <member name="F:Tao.Ode.Ode.dMatrix4.M30">
5943
             <summary>
5944
            
5945
             </summary>
5946
        </member>
5947
        <member name="F:Tao.Ode.Ode.dMatrix4.M31">
5948
             <summary>
5949
            
5950
             </summary>
5951
        </member>
5952
        <member name="F:Tao.Ode.Ode.dMatrix4.M32">
5953
             <summary>
5954
            
5955
             </summary>
5956
        </member>
5957
        <member name="F:Tao.Ode.Ode.dMatrix4.M33">
5958
             <summary>
5959
            
5960
             </summary>
5961
        </member>
5962
        <member name="M:Tao.Ode.Ode.dMatrix4.ToArray">
5963
             <summary>
5964
            
5965
             </summary>
5966
             <returns></returns>
5967
        </member>
5968
        <member name="P:Tao.Ode.Ode.dMatrix4.Item(System.Int32)">
5969
             <summary>
5970
            
5971
             </summary>
5972
             <param name="index"></param>
5973
             <returns></returns>
5974
        </member>
5975
        <member name="P:Tao.Ode.Ode.dMatrix4.Item(System.Int32,System.Int32)">
5976
             <summary>
5977
            
5978
             </summary>
5979
             <param name="x"></param>
5980
             <param name="y"></param>
5981
             <returns></returns>
5982
        </member>
5983
        <member name="T:Tao.Ode.Ode.dJointFeedback">
5984
             <summary>
5985
             During the world time step, the forces that are applied by each joint are computed.
5986
             These forces are added directly to the joined bodies, and the user normally has no
5987
             way of telling which joint contributed how much force.
5988
            
5989
            	If this information is desired then the user can allocate a dJointFeedback structure
5990
             and pass its pointer to the dJointSetFeedback() function.
5991
            
5992
             The feedback information structure is defined as follows:
5993
            
5994
            	typedef struct dJointFeedback {
5995
            		dVector3 f1;       // force that joint applies to body 1
5996
            		dVector3 t1;       // torque that joint applies to body 1
5997
            		dVector3 f2;       // force that joint applies to body 2
5998
            		dVector3 t2;       // torque that joint applies to body 2
5999
            	} dJointFeedback;
6000
            
6001
            	During the time step any feedback structures that are attached to joints will be filled in with the
6002
             joint's force and torque information. The dJointGetFeedback() function returns the current feedback
6003
             structure pointer, or 0 if none is used (this is the default). dJointSetFeedback() can be passed 0
6004
             to disable feedback for that joint.
6005
            
6006
            	Now for some API design notes. It might seem strange to require that users perform the allocation
6007
             of these structures. Why not just store the data statically in each joint? The reason is that not
6008
             all users will use the feedback information, and even when it is used not all joints will need it.
6009
             It will waste memory to store it statically, especially as this structure could grow to store a
6010
             lot of extra information in the future.
6011
            
6012
            	Why not have ODE allocate the structure itself, at the user's request? The reason is that contact
6013
             joints (which are created and destroyed every time step) would require a lot of time to be spent
6014
             in memory allocation if feedback is required. Letting the user do the allocation means that a
6015
             better allocation strategy can be provided, e.g simply allocating them out of a fixed array.
6016
            
6017
            	The alternative to this API is to have a joint-force callback. This would work of course, but
6018
             it has a few problems. First, callbacks tend to pollute APIs and sometimes require the user
6019
             to go through unnatural contortions to get the data to the right place. Second, this would
6020
             expose ODE to being changed in the middle of a step (which would have bad consequences), and
6021
             there would have to be some kind of guard against this or a debugging check for it - which
6022
             would complicate things.
6023
             </summary>
6024
        </member>
6025
        <member name="M:Tao.Ode.Ode.dJointFeedback.#ctor(Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3,Tao.Ode.Ode.dVector3)">
6026
             <summary>
6027
            
6028
             </summary>
6029
        </member>
6030
        <member name="F:Tao.Ode.Ode.dJointFeedback.f1">
6031
            <summary>Force applied to body 1</summary>
6032
        </member>
6033
        <member name="F:Tao.Ode.Ode.dJointFeedback.t1">
6034
            <summary>Torque applied to body 1</summary>
6035
        </member>
6036
        <member name="F:Tao.Ode.Ode.dJointFeedback.f2">
6037
            <summary>Force applied to body 2</summary>
6038
        </member>
6039
        <member name="F:Tao.Ode.Ode.dJointFeedback.t2">
6040
            <summary>Torque applied to body 2</summary>
6041
        </member>
6042
        <member name="T:Tao.Ode.Ode.dNearCallback">
6043
            <summary>
6044
            Callback function for dSpaceCollide and dSpaceCollide2
6045
            </summary>
6046
        </member>
6047
        <member name="T:Tao.Ode.Ode.TriMeshNumbers">
6048
             <summary>
6049
            
6050
             </summary>
6051
        </member>
6052
        <member name="F:Tao.Ode.Ode.TriMeshNumbers.TRIMESH_FACE_NORMALS">
6053
             <summary>
6054
            
6055
             </summary>
6056
        </member>
6057
        <member name="F:Tao.Ode.Ode.TriMeshNumbers.TRIMESH_LAST_TRANSFORMATION">
6058
             <summary>
6059
            
6060
             </summary>
6061
        </member>
6062
        <member name="T:Tao.Ode.Ode.dTriCallback">
6063
            <summary>
6064
            Per triangle callback.
6065
            Allows user to state if a collision with a particular triangle is wanted
6066
            If the return value is zero no contact will be generated.
6067
            </summary>
6068
        </member>
6069
        <member name="T:Tao.Ode.Ode.dTriArrayCallback">
6070
            <summary>
6071
            Per object callback.
6072
            Allows user to get the list of all intersecting triangles in one shot.
6073
            </summary>
6074
        </member>
6075
        <member name="T:Tao.Ode.Ode.dTriRayCallback">
6076
            <summary>
6077
            Ray callback.
6078
            Allows the user to determine if a ray collides with a triangle based on
6079
            the barycentric coordinates of an intersection. The user can for example
6080
            sample a bitmap to determine if a collision should occur.
6081
            </summary>
6082
        </member>
6083
        <member name="T:Tao.Ode.Ode.dAABBTestFn">
6084
            <summary>
6085
            
6086
            </summary>
6087
            <param name="o1"></param>
6088
            <param name="o2"></param>
6089
            <param name="aabb"></param>
6090
            <returns></returns>
6091
        </member>
6092
        <member name="T:Tao.Ode.Ode.dColliderFn">
6093
            <summary>
6094
            
6095
            </summary>
6096
            <param name="o1"></param>
6097
            <param name="o2"></param>
6098
            <param name="flags"></param>
6099
            <param name="contact"></param>
6100
            <param name="skip"></param>
6101
            <returns></returns>
6102
        </member>
6103
        <member name="T:Tao.Ode.Ode.dGetAABBFn">
6104
            <summary>
6105
            
6106
            </summary>
6107
            <param name="geom"></param>
6108
            <param name="aabb"></param>
6109
        </member>
6110
        <member name="T:Tao.Ode.Ode.dGetColliderFnFn">
6111
            <summary>
6112
            
6113
            </summary>
6114
            <param name="num"></param>
6115
            <returns></returns>
6116
        </member>
6117
        <member name="T:Tao.Ode.Ode.dGeomDtorFn">
6118
            <summary>
6119
            
6120
            </summary>
6121
            <param name="o"></param>
6122
        </member>
6123
        <member name="T:Tao.Ode.Ode.dHeightfieldGetHeight">
6124
            <summary>
6125
            
6126
            </summary>
6127
            <param name="p_user_data"></param>
6128
            <param name="x"></param>
6129
            <param name="z"></param>
6130
            <returns></returns>
6131
        </member>
6132
        <member name="T:Tao.Ode.Ode.dGeomClass">
6133
            <summary>
6134
            
6135
            </summary>
6136
        </member>
6137
        <member name="F:Tao.Ode.Ode.dGeomClass.bytes">
6138
            <summary>
6139
            
6140
            </summary>
6141
        </member>
6142
        <member name="F:Tao.Ode.Ode.dGeomClass.collider">
6143
            <summary>
6144
            
6145
            </summary>
6146
        </member>
6147
        <member name="F:Tao.Ode.Ode.dGeomClass.aabb">
6148
            <summary>
6149
            
6150
            </summary>
6151
        </member>
6152
        <member name="F:Tao.Ode.Ode.dGeomClass.aabb_test">
6153
            <summary>
6154
            
6155
            </summary>
6156
        </member>
6157
        <member name="F:Tao.Ode.Ode.dGeomClass.dtor">
6158
            <summary>
6159
            
6160
            </summary>
6161
        </member>
6162
    </members>
6163
</doc>
6164

6165
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Resources

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