3114 lines
138 KiB
C#
3114 lines
138 KiB
C#
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public partial class NativeConstants {
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/// PHYSICS_CLIENT_C_API_H ->
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/// Error generating expression: Value cannot be null.
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///Parameter name: node
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public const string PHYSICS_CLIENT_C_API_H = "";
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/// SHARED_MEMORY_PUBLIC_H ->
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/// Error generating expression: Value cannot be null.
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///Parameter name: node
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public const string SHARED_MEMORY_PUBLIC_H = "";
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/// SHARED_MEMORY_KEY -> 12347
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public const int SHARED_MEMORY_KEY = 12347;
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/// SHARED_MEMORY_MAGIC_NUMBER -> 201708270
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public const int SHARED_MEMORY_MAGIC_NUMBER = 201708270;
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/// MAX_VR_BUTTONS -> 64
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public const int MAX_VR_BUTTONS = 64;
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/// MAX_VR_CONTROLLERS -> 8
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public const int MAX_VR_CONTROLLERS = 8;
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/// MAX_RAY_INTERSECTION_BATCH_SIZE -> 256
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public const int MAX_RAY_INTERSECTION_BATCH_SIZE = 256;
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/// MAX_RAY_HITS -> MAX_RAY_INTERSECTION_BATCH_SIZE
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public const int MAX_RAY_HITS = NativeConstants.MAX_RAY_INTERSECTION_BATCH_SIZE;
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/// MAX_KEYBOARD_EVENTS -> 256
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public const int MAX_KEYBOARD_EVENTS = 256;
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/// MAX_MOUSE_EVENTS -> 256
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public const int MAX_MOUSE_EVENTS = 256;
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/// VISUAL_SHAPE_MAX_PATH_LEN -> 1024
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public const int VISUAL_SHAPE_MAX_PATH_LEN = 1024;
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/// Warning: Generation of Method Macros is not supported at this time
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/// B3_DECLARE_HANDLE -> "(name) typedef struct name##__ { int unused; } *name"
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public const string B3_DECLARE_HANDLE = "(name) typedef struct name##__ { int unused; } *name";
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/// PHYSICS_CLIENT_SHARED_MEMORY_H ->
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/// Error generating expression: Value cannot be null.
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///Parameter name: node
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public const string PHYSICS_CLIENT_SHARED_MEMORY_H = "";
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/// PHYSICS_CLIENT_SHARED_MEMORY2_H ->
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/// Error generating expression: Value cannot be null.
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///Parameter name: node
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public const string PHYSICS_CLIENT_SHARED_MEMORY2_H = "";
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/// PHYSICS_DIRECT_C_API_H ->
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/// Error generating expression: Value cannot be null.
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///Parameter name: node
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public const string PHYSICS_DIRECT_C_API_H = "";
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/// IN_PROCESS_PHYSICS_C_API_H ->
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/// Error generating expression: Value cannot be null.
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///Parameter name: node
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public const string IN_PROCESS_PHYSICS_C_API_H = "";
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}
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public enum EnumSharedMemoryClientCommand {
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CMD_LOAD_SDF,
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CMD_LOAD_URDF,
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CMD_LOAD_BULLET,
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CMD_SAVE_BULLET,
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CMD_LOAD_MJCF,
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CMD_LOAD_BUNNY,
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CMD_SEND_BULLET_DATA_STREAM,
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CMD_CREATE_BOX_COLLISION_SHAPE,
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CMD_CREATE_RIGID_BODY,
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CMD_DELETE_RIGID_BODY,
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CMD_CREATE_SENSOR,
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CMD_INIT_POSE,
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CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
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CMD_SEND_DESIRED_STATE,
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CMD_REQUEST_ACTUAL_STATE,
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CMD_REQUEST_DEBUG_LINES,
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CMD_REQUEST_BODY_INFO,
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CMD_REQUEST_INTERNAL_DATA,
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CMD_STEP_FORWARD_SIMULATION,
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CMD_RESET_SIMULATION,
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CMD_PICK_BODY,
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CMD_MOVE_PICKED_BODY,
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CMD_REMOVE_PICKING_CONSTRAINT_BODY,
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CMD_REQUEST_CAMERA_IMAGE_DATA,
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CMD_APPLY_EXTERNAL_FORCE,
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CMD_CALCULATE_INVERSE_DYNAMICS,
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CMD_CALCULATE_INVERSE_KINEMATICS,
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CMD_CALCULATE_JACOBIAN,
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CMD_USER_CONSTRAINT,
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CMD_REQUEST_CONTACT_POINT_INFORMATION,
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CMD_REQUEST_RAY_CAST_INTERSECTIONS,
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CMD_REQUEST_AABB_OVERLAP,
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CMD_SAVE_WORLD,
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CMD_REQUEST_VISUAL_SHAPE_INFO,
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CMD_UPDATE_VISUAL_SHAPE,
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CMD_LOAD_TEXTURE,
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CMD_SET_SHADOW,
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CMD_USER_DEBUG_DRAW,
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CMD_REQUEST_VR_EVENTS_DATA,
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CMD_SET_VR_CAMERA_STATE,
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CMD_SYNC_BODY_INFO,
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CMD_STATE_LOGGING,
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CMD_CONFIGURE_OPENGL_VISUALIZER,
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CMD_REQUEST_KEYBOARD_EVENTS_DATA,
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CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
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CMD_REMOVE_BODY,
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CMD_CHANGE_DYNAMICS_INFO,
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CMD_GET_DYNAMICS_INFO,
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CMD_PROFILE_TIMING,
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CMD_CREATE_COLLISION_SHAPE,
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CMD_CREATE_VISUAL_SHAPE,
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CMD_CREATE_MULTI_BODY,
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CMD_REQUEST_COLLISION_INFO,
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CMD_REQUEST_MOUSE_EVENTS_DATA,
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CMD_CHANGE_TEXTURE,
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CMD_SET_ADDITIONAL_SEARCH_PATH,
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CMD_MAX_CLIENT_COMMANDS,
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}
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public enum EnumSharedMemoryServerStatus {
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/// CMD_SHARED_MEMORY_NOT_INITIALIZED -> 0
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CMD_SHARED_MEMORY_NOT_INITIALIZED = 0,
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CMD_WAITING_FOR_CLIENT_COMMAND,
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CMD_CLIENT_COMMAND_COMPLETED,
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CMD_UNKNOWN_COMMAND_FLUSHED,
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CMD_SDF_LOADING_COMPLETED,
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CMD_SDF_LOADING_FAILED,
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CMD_URDF_LOADING_COMPLETED,
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CMD_URDF_LOADING_FAILED,
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CMD_BULLET_LOADING_COMPLETED,
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CMD_BULLET_LOADING_FAILED,
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CMD_BULLET_SAVING_COMPLETED,
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CMD_BULLET_SAVING_FAILED,
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CMD_MJCF_LOADING_COMPLETED,
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CMD_MJCF_LOADING_FAILED,
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CMD_REQUEST_INTERNAL_DATA_COMPLETED,
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CMD_REQUEST_INTERNAL_DATA_FAILED,
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CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
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CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
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CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
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CMD_RIGID_BODY_CREATION_COMPLETED,
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CMD_SET_JOINT_FEEDBACK_COMPLETED,
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CMD_ACTUAL_STATE_UPDATE_COMPLETED,
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CMD_ACTUAL_STATE_UPDATE_FAILED,
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CMD_DEBUG_LINES_COMPLETED,
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CMD_DEBUG_LINES_OVERFLOW_FAILED,
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CMD_DESIRED_STATE_RECEIVED_COMPLETED,
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CMD_STEP_FORWARD_SIMULATION_COMPLETED,
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CMD_RESET_SIMULATION_COMPLETED,
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CMD_CAMERA_IMAGE_COMPLETED,
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CMD_CAMERA_IMAGE_FAILED,
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CMD_BODY_INFO_COMPLETED,
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CMD_BODY_INFO_FAILED,
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CMD_INVALID_STATUS,
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CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
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CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
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CMD_CALCULATED_JACOBIAN_COMPLETED,
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CMD_CALCULATED_JACOBIAN_FAILED,
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CMD_CONTACT_POINT_INFORMATION_COMPLETED,
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CMD_CONTACT_POINT_INFORMATION_FAILED,
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CMD_REQUEST_AABB_OVERLAP_COMPLETED,
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CMD_REQUEST_AABB_OVERLAP_FAILED,
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CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
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CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
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CMD_SAVE_WORLD_COMPLETED,
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CMD_SAVE_WORLD_FAILED,
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CMD_VISUAL_SHAPE_INFO_COMPLETED,
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CMD_VISUAL_SHAPE_INFO_FAILED,
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CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
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CMD_VISUAL_SHAPE_UPDATE_FAILED,
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CMD_LOAD_TEXTURE_COMPLETED,
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CMD_LOAD_TEXTURE_FAILED,
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CMD_USER_DEBUG_DRAW_COMPLETED,
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CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED,
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CMD_USER_DEBUG_DRAW_FAILED,
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CMD_USER_CONSTRAINT_COMPLETED,
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CMD_USER_CONSTRAINT_INFO_COMPLETED,
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CMD_REMOVE_USER_CONSTRAINT_COMPLETED,
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CMD_CHANGE_USER_CONSTRAINT_COMPLETED,
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CMD_REMOVE_USER_CONSTRAINT_FAILED,
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CMD_CHANGE_USER_CONSTRAINT_FAILED,
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CMD_USER_CONSTRAINT_FAILED,
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CMD_REQUEST_VR_EVENTS_DATA_COMPLETED,
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CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED,
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CMD_SYNC_BODY_INFO_COMPLETED,
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CMD_SYNC_BODY_INFO_FAILED,
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CMD_STATE_LOGGING_COMPLETED,
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CMD_STATE_LOGGING_START_COMPLETED,
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CMD_STATE_LOGGING_FAILED,
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CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED,
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CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED,
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CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED,
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CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
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CMD_REMOVE_BODY_COMPLETED,
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CMD_REMOVE_BODY_FAILED,
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CMD_GET_DYNAMICS_INFO_COMPLETED,
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CMD_GET_DYNAMICS_INFO_FAILED,
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CMD_CREATE_COLLISION_SHAPE_FAILED,
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CMD_CREATE_COLLISION_SHAPE_COMPLETED,
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CMD_CREATE_VISUAL_SHAPE_FAILED,
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CMD_CREATE_VISUAL_SHAPE_COMPLETED,
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CMD_CREATE_MULTI_BODY_FAILED,
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CMD_CREATE_MULTI_BODY_COMPLETED,
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CMD_REQUEST_COLLISION_INFO_COMPLETED,
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CMD_REQUEST_COLLISION_INFO_FAILED,
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CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
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CMD_CHANGE_TEXTURE_COMMAND_FAILED,
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CMD_MAX_SERVER_COMMANDS,
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}
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public enum JointInfoFlags {
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/// JOINT_HAS_MOTORIZED_POWER -> 1
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JOINT_HAS_MOTORIZED_POWER = 1,
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}
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public enum JointType {
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/// eRevoluteType -> 0
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eRevoluteType = 0,
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/// ePrismaticType -> 1
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ePrismaticType = 1,
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/// eSphericalType -> 2
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eSphericalType = 2,
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/// ePlanarType -> 3
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ePlanarType = 3,
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/// eFixedType -> 4
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eFixedType = 4,
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/// ePoint2PointType -> 5
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ePoint2PointType = 5,
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/// eGearType -> 6
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eGearType = 6,
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}
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public enum b3JointInfoFlags {
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/// eJointChangeMaxForce -> 1
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eJointChangeMaxForce = 1,
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/// eJointChangeChildFramePosition -> 2
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eJointChangeChildFramePosition = 2,
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/// eJointChangeChildFrameOrientation -> 4
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eJointChangeChildFrameOrientation = 4,
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3JointInfo {
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/// char*
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
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public string m_linkName;
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/// char*
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
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public string m_jointName;
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/// int
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public int m_jointType;
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/// int
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public int m_qIndex;
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/// int
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public int m_uIndex;
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/// int
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public int m_jointIndex;
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/// int
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public int m_flags;
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/// double
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public double m_jointDamping;
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/// double
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public double m_jointFriction;
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/// double
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public double m_jointLowerLimit;
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/// double
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public double m_jointUpperLimit;
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/// double
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public double m_jointMaxForce;
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/// double
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public double m_jointMaxVelocity;
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/// double[7]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_parentFrame;
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/// double[7]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_childFrame;
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/// double[3]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_jointAxis;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3UserConstraint {
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/// int
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public int m_parentBodyIndex;
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/// int
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public int m_parentJointIndex;
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/// int
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public int m_childBodyIndex;
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/// int
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public int m_childJointIndex;
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/// double[7]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_parentFrame;
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/// double[7]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_childFrame;
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/// double[3]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_jointAxis;
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/// int
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public int m_jointType;
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/// double
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public double m_maxAppliedForce;
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/// int
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public int m_userConstraintUniqueId;
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/// double
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public double m_gearRatio;
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/// int
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public int m_gearAuxLink;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3BodyInfo {
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/// char*
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
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public string m_baseName;
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/// char*
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
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public string m_bodyName;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3DynamicsInfo {
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/// double
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public double m_mass;
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/// double[3]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_localInertialPosition;
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/// double
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public double m_lateralFrictionCoeff;
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}
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public enum SensorType {
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/// eSensorForceTorqueType -> 1
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eSensorForceTorqueType = 1,
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3JointSensorState {
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/// double
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public double m_jointPosition;
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/// double
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public double m_jointVelocity;
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/// double[6]
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[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=6, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
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public double[] m_jointForceTorque;
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/// double
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public double m_jointMotorTorque;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3DebugLines {
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/// int
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public int m_numDebugLines;
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/// float*
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public System.IntPtr m_linesFrom;
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/// float*
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public System.IntPtr m_linesTo;
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/// float*
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public System.IntPtr m_linesColor;
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}
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[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
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public struct b3OverlappingObject {
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/// int
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public int m_objectUniqueId;
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/// int
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public int m_linkIndex;
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}
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|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3AABBOverlapData {
|
|
|
|
/// int
|
|
public int m_numOverlappingObjects;
|
|
|
|
/// b3OverlappingObject*
|
|
public System.IntPtr m_overlappingObjects;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3CameraImageData {
|
|
|
|
/// int
|
|
public int m_pixelWidth;
|
|
|
|
/// int
|
|
public int m_pixelHeight;
|
|
|
|
/// char*
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
|
|
public string m_rgbColorData;
|
|
|
|
/// float*
|
|
public System.IntPtr m_depthValues;
|
|
|
|
/// int*
|
|
public System.IntPtr m_segmentationMaskValues;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3OpenGLVisualizerCameraInfo {
|
|
|
|
/// int
|
|
public int m_width;
|
|
|
|
/// int
|
|
public int m_height;
|
|
|
|
/// float[16]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=16, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
|
|
public float[] m_viewMatrix;
|
|
|
|
/// float[16]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=16, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
|
|
public float[] m_projectionMatrix;
|
|
|
|
/// float[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
|
|
public float[] m_camUp;
|
|
|
|
/// float[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
|
|
public float[] m_camForward;
|
|
|
|
/// float[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
|
|
public float[] m_horizontal;
|
|
|
|
/// float[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
|
|
public float[] m_vertical;
|
|
|
|
/// float
|
|
public float m_yaw;
|
|
|
|
/// float
|
|
public float m_pitch;
|
|
|
|
/// float
|
|
public float m_dist;
|
|
|
|
/// float[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
|
|
public float[] m_target;
|
|
}
|
|
|
|
public enum b3VREventType {
|
|
|
|
/// VR_CONTROLLER_MOVE_EVENT -> 1
|
|
VR_CONTROLLER_MOVE_EVENT = 1,
|
|
|
|
/// VR_CONTROLLER_BUTTON_EVENT -> 2
|
|
VR_CONTROLLER_BUTTON_EVENT = 2,
|
|
|
|
/// VR_HMD_MOVE_EVENT -> 4
|
|
VR_HMD_MOVE_EVENT = 4,
|
|
|
|
/// VR_GENERIC_TRACKER_MOVE_EVENT -> 8
|
|
VR_GENERIC_TRACKER_MOVE_EVENT = 8,
|
|
}
|
|
|
|
public enum b3VRButtonInfo {
|
|
|
|
/// eButtonIsDown -> 1
|
|
eButtonIsDown = 1,
|
|
|
|
/// eButtonTriggered -> 2
|
|
eButtonTriggered = 2,
|
|
|
|
/// eButtonReleased -> 4
|
|
eButtonReleased = 4,
|
|
}
|
|
|
|
public enum eVRDeviceTypeEnums {
|
|
|
|
/// VR_DEVICE_CONTROLLER -> 1
|
|
VR_DEVICE_CONTROLLER = 1,
|
|
|
|
/// VR_DEVICE_HMD -> 2
|
|
VR_DEVICE_HMD = 2,
|
|
|
|
/// VR_DEVICE_GENERIC_TRACKER -> 4
|
|
VR_DEVICE_GENERIC_TRACKER = 4,
|
|
}
|
|
|
|
public enum EVRCameraFlags {
|
|
|
|
/// VR_CAMERA_TRACK_OBJECT_ORIENTATION -> 1
|
|
VR_CAMERA_TRACK_OBJECT_ORIENTATION = 1,
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3VRControllerEvent {
|
|
|
|
/// int
|
|
public int m_controllerId;
|
|
|
|
/// int
|
|
public int m_deviceType;
|
|
|
|
/// int
|
|
public int m_numMoveEvents;
|
|
|
|
/// int
|
|
public int m_numButtonEvents;
|
|
|
|
/// float[4]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
|
|
public float[] m_pos;
|
|
|
|
/// float[4]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
|
|
public float[] m_orn;
|
|
|
|
/// float
|
|
public float m_analogAxis;
|
|
|
|
/// int[64]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=64, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)]
|
|
public int[] m_buttons;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3VREventsData {
|
|
|
|
/// int
|
|
public int m_numControllerEvents;
|
|
|
|
/// b3VRControllerEvent*
|
|
public System.IntPtr m_controllerEvents;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3KeyboardEvent {
|
|
|
|
/// int
|
|
public int m_keyCode;
|
|
|
|
/// int
|
|
public int m_keyState;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3KeyboardEventsData {
|
|
|
|
/// int
|
|
public int m_numKeyboardEvents;
|
|
|
|
/// b3KeyboardEvent*
|
|
public System.IntPtr m_keyboardEvents;
|
|
}
|
|
|
|
public enum eMouseEventTypeEnums {
|
|
|
|
/// MOUSE_MOVE_EVENT -> 1
|
|
MOUSE_MOVE_EVENT = 1,
|
|
|
|
/// MOUSE_BUTTON_EVENT -> 2
|
|
MOUSE_BUTTON_EVENT = 2,
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3MouseEvent {
|
|
|
|
/// int
|
|
public int m_eventType;
|
|
|
|
/// float
|
|
public float m_mousePosX;
|
|
|
|
/// float
|
|
public float m_mousePosY;
|
|
|
|
/// int
|
|
public int m_buttonIndex;
|
|
|
|
/// int
|
|
public int m_buttonState;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3MouseEventsData {
|
|
|
|
/// int
|
|
public int m_numMouseEvents;
|
|
|
|
/// b3MouseEvent*
|
|
public System.IntPtr m_mouseEvents;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3ContactPointData {
|
|
|
|
/// int
|
|
public int m_contactFlags;
|
|
|
|
/// int
|
|
public int m_bodyUniqueIdA;
|
|
|
|
/// int
|
|
public int m_bodyUniqueIdB;
|
|
|
|
/// int
|
|
public int m_linkIndexA;
|
|
|
|
/// int
|
|
public int m_linkIndexB;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_positionOnAInWS;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_positionOnBInWS;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_contactNormalOnBInWS;
|
|
|
|
/// double
|
|
public double m_contactDistance;
|
|
|
|
/// double
|
|
public double m_normalForce;
|
|
}
|
|
|
|
public enum b3StateLoggingType {
|
|
|
|
/// STATE_LOGGING_MINITAUR -> 0
|
|
STATE_LOGGING_MINITAUR = 0,
|
|
|
|
/// STATE_LOGGING_GENERIC_ROBOT -> 1
|
|
STATE_LOGGING_GENERIC_ROBOT = 1,
|
|
|
|
/// STATE_LOGGING_VR_CONTROLLERS -> 2
|
|
STATE_LOGGING_VR_CONTROLLERS = 2,
|
|
|
|
/// STATE_LOGGING_VIDEO_MP4 -> 3
|
|
STATE_LOGGING_VIDEO_MP4 = 3,
|
|
|
|
/// STATE_LOGGING_COMMANDS -> 4
|
|
STATE_LOGGING_COMMANDS = 4,
|
|
|
|
/// STATE_LOGGING_CONTACT_POINTS -> 5
|
|
STATE_LOGGING_CONTACT_POINTS = 5,
|
|
|
|
/// STATE_LOGGING_PROFILE_TIMINGS -> 6
|
|
STATE_LOGGING_PROFILE_TIMINGS = 6,
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3ContactInformation {
|
|
|
|
/// int
|
|
public int m_numContactPoints;
|
|
|
|
/// b3ContactPointData*
|
|
public System.IntPtr m_contactPointData;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3RayHitInfo {
|
|
|
|
/// double
|
|
public double m_hitFraction;
|
|
|
|
/// int
|
|
public int m_hitObjectUniqueId;
|
|
|
|
/// int
|
|
public int m_hitObjectLinkIndex;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_hitPositionWorld;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_hitNormalWorld;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3RaycastInformation {
|
|
|
|
/// int
|
|
public int m_numRayHits;
|
|
|
|
/// b3RayHitInfo*
|
|
public System.IntPtr m_rayHits;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
|
|
public struct b3VisualShapeData {
|
|
|
|
/// int
|
|
public int m_objectUniqueId;
|
|
|
|
/// int
|
|
public int m_linkIndex;
|
|
|
|
/// int
|
|
public int m_visualGeometryType;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_dimensions;
|
|
|
|
/// char[1024]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
|
|
public string m_meshAssetFileName;
|
|
|
|
/// double[7]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_localVisualFrame;
|
|
|
|
/// double[4]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_rgbaColor;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3VisualShapeInformation {
|
|
|
|
/// int
|
|
public int m_numVisualShapes;
|
|
|
|
/// b3VisualShapeData*
|
|
public System.IntPtr m_visualShapeData;
|
|
}
|
|
|
|
public enum eLinkStateFlags {
|
|
|
|
/// ACTUAL_STATE_COMPUTE_LINKVELOCITY -> 1
|
|
ACTUAL_STATE_COMPUTE_LINKVELOCITY = 1,
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3LinkState {
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_worldPosition;
|
|
|
|
/// double[4]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_worldOrientation;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_localInertialPosition;
|
|
|
|
/// double[4]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_localInertialOrientation;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_worldLinkFramePosition;
|
|
|
|
/// double[4]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_worldLinkFrameOrientation;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_worldLinearVelocity;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_worldAngularVelocity;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_worldAABBMin;
|
|
|
|
/// double[3]
|
|
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
|
|
public double[] m_worldAABBMax;
|
|
}
|
|
|
|
public enum EnumExternalForceFlags {
|
|
|
|
/// EF_LINK_FRAME -> 1
|
|
EF_LINK_FRAME = 1,
|
|
|
|
/// EF_WORLD_FRAME -> 2
|
|
EF_WORLD_FRAME = 2,
|
|
}
|
|
|
|
public enum EnumRenderer {
|
|
|
|
/// ER_TINY_RENDERER -> (1<<16)
|
|
ER_TINY_RENDERER = (1) << (16),
|
|
|
|
/// ER_BULLET_HARDWARE_OPENGL -> (1<<17)
|
|
ER_BULLET_HARDWARE_OPENGL = (1) << (17),
|
|
}
|
|
|
|
public enum b3ConfigureDebugVisualizerEnum {
|
|
|
|
/// COV_ENABLE_GUI -> 1
|
|
COV_ENABLE_GUI = 1,
|
|
|
|
COV_ENABLE_SHADOWS,
|
|
|
|
COV_ENABLE_WIREFRAME,
|
|
|
|
COV_ENABLE_VR_TELEPORTING,
|
|
|
|
COV_ENABLE_VR_PICKING,
|
|
|
|
COV_ENABLE_VR_RENDER_CONTROLLERS,
|
|
|
|
COV_ENABLE_RENDERING,
|
|
|
|
COV_ENABLE_SYNC_RENDERING_INTERNAL,
|
|
|
|
COV_ENABLE_KEYBOARD_SHORTCUTS,
|
|
|
|
COV_ENABLE_MOUSE_PICKING,
|
|
}
|
|
|
|
public enum b3AddUserDebugItemEnum {
|
|
|
|
/// DEB_DEBUG_TEXT_USE_ORIENTATION -> 1
|
|
DEB_DEBUG_TEXT_USE_ORIENTATION = 1,
|
|
|
|
/// DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS -> 2
|
|
DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS = 2,
|
|
|
|
/// DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT -> 4
|
|
DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT = 4,
|
|
}
|
|
|
|
public enum eCONNECT_METHOD {
|
|
|
|
/// eCONNECT_GUI -> 1
|
|
eCONNECT_GUI = 1,
|
|
|
|
/// eCONNECT_DIRECT -> 2
|
|
eCONNECT_DIRECT = 2,
|
|
|
|
/// eCONNECT_SHARED_MEMORY -> 3
|
|
eCONNECT_SHARED_MEMORY = 3,
|
|
|
|
/// eCONNECT_UDP -> 4
|
|
eCONNECT_UDP = 4,
|
|
|
|
/// eCONNECT_TCP -> 5
|
|
eCONNECT_TCP = 5,
|
|
|
|
/// eCONNECT_EXISTING_EXAMPLE_BROWSER -> 6
|
|
eCONNECT_EXISTING_EXAMPLE_BROWSER = 6,
|
|
|
|
/// eCONNECT_GUI_SERVER -> 7
|
|
eCONNECT_GUI_SERVER = 7,
|
|
}
|
|
|
|
public enum eURDF_Flags {
|
|
|
|
/// URDF_USE_INERTIA_FROM_FILE -> 2
|
|
URDF_USE_INERTIA_FROM_FILE = 2,
|
|
|
|
/// URDF_USE_SELF_COLLISION -> 8
|
|
URDF_USE_SELF_COLLISION = 8,
|
|
|
|
/// URDF_USE_SELF_COLLISION_EXCLUDE_PARENT -> 16
|
|
URDF_USE_SELF_COLLISION_EXCLUDE_PARENT = 16,
|
|
|
|
/// URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS -> 32
|
|
URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS = 32,
|
|
|
|
/// URDF_RESERVED -> 64
|
|
URDF_RESERVED = 64,
|
|
}
|
|
|
|
public enum eUrdfGeomTypes {
|
|
|
|
/// GEOM_SPHERE -> 2
|
|
GEOM_SPHERE = 2,
|
|
|
|
GEOM_BOX,
|
|
|
|
GEOM_CYLINDER,
|
|
|
|
GEOM_MESH,
|
|
|
|
GEOM_PLANE,
|
|
|
|
GEOM_CAPSULE,
|
|
|
|
GEOM_UNKNOWN,
|
|
}
|
|
|
|
public enum eUrdfCollisionFlags {
|
|
|
|
/// GEOM_FORCE_CONCAVE_TRIMESH -> 1
|
|
GEOM_FORCE_CONCAVE_TRIMESH = 1,
|
|
}
|
|
|
|
public enum eStateLoggingFlags {
|
|
|
|
/// STATE_LOG_JOINT_MOTOR_TORQUES -> 1
|
|
STATE_LOG_JOINT_MOTOR_TORQUES = 1,
|
|
|
|
/// STATE_LOG_JOINT_USER_TORQUES -> 2
|
|
STATE_LOG_JOINT_USER_TORQUES = 2,
|
|
|
|
/// STATE_LOG_JOINT_TORQUES -> STATE_LOG_JOINT_MOTOR_TORQUES+STATE_LOG_JOINT_USER_TORQUES
|
|
STATE_LOG_JOINT_TORQUES = (eStateLoggingFlags.STATE_LOG_JOINT_MOTOR_TORQUES + eStateLoggingFlags.STATE_LOG_JOINT_USER_TORQUES),
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3PhysicsClientHandle__ {
|
|
|
|
/// int
|
|
public int unused;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3SharedMemoryCommandHandle__ {
|
|
|
|
/// int
|
|
public int unused;
|
|
}
|
|
|
|
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
|
|
public struct b3SharedMemoryStatusHandle__ {
|
|
|
|
/// int
|
|
public int unused;
|
|
}
|
|
|
|
public partial class NativeMethods {
|
|
|
|
/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///key: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ConnectSharedMemory")]
|
|
public static extern System.IntPtr b3ConnectSharedMemory(int key) ;
|
|
|
|
|
|
/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///key: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ConnectSharedMemory2")]
|
|
public static extern System.IntPtr b3ConnectSharedMemory2(int key) ;
|
|
|
|
|
|
/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ConnectPhysicsDirect")]
|
|
public static extern System.IntPtr b3ConnectPhysicsDirect() ;
|
|
|
|
|
|
/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///argc: int
|
|
///argv: char**
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateInProcessPhysicsServerAndConnect")]
|
|
public static extern System.IntPtr b3CreateInProcessPhysicsServerAndConnect(int argc, ref System.IntPtr argv) ;
|
|
|
|
|
|
/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///argc: int
|
|
///argv: char**
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateInProcessPhysicsServerAndConnectSharedMemory")]
|
|
public static extern System.IntPtr b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, ref System.IntPtr argv) ;
|
|
|
|
|
|
/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///argc: int
|
|
///argv: char**
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateInProcessPhysicsServerAndConnectMainThread")]
|
|
public static extern System.IntPtr b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, ref System.IntPtr argv) ;
|
|
|
|
|
|
/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///argc: int
|
|
///argv: char**
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory")]
|
|
public static extern System.IntPtr b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, ref System.IntPtr argv) ;
|
|
|
|
|
|
/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///guiHelperPtr: void*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect")]
|
|
public static extern System.IntPtr b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(System.IntPtr guiHelperPtr) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InProcessRenderSceneInternal")]
|
|
public static extern void b3InProcessRenderSceneInternal(ref b3PhysicsClientHandle__ clientHandle) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///debugDrawMode: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InProcessDebugDrawInternal")]
|
|
public static extern void b3InProcessDebugDrawInternal(ref b3PhysicsClientHandle__ clientHandle, int debugDrawMode) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///x: float
|
|
///y: float
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InProcessMouseMoveCallback")]
|
|
public static extern int b3InProcessMouseMoveCallback(ref b3PhysicsClientHandle__ clientHandle, float x, float y) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///button: int
|
|
///state: int
|
|
///x: float
|
|
///y: float
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InProcessMouseButtonCallback")]
|
|
public static extern int b3InProcessMouseButtonCallback(ref b3PhysicsClientHandle__ clientHandle, int button, int state, float x, float y) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3DisconnectSharedMemory")]
|
|
public static extern void b3DisconnectSharedMemory(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CanSubmitCommand")]
|
|
public static extern int b3CanSubmitCommand(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SubmitClientCommandAndWaitStatus")]
|
|
public static extern System.IntPtr b3SubmitClientCommandAndWaitStatus(ref b3PhysicsClientHandle__ physClient, ref b3SharedMemoryCommandHandle__ commandHandle) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SubmitClientCommand")]
|
|
public static extern int b3SubmitClientCommand(ref b3PhysicsClientHandle__ physClient, ref b3SharedMemoryCommandHandle__ commandHandle) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ProcessServerStatus")]
|
|
public static extern System.IntPtr b3ProcessServerStatus(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusType")]
|
|
public static extern int b3GetStatusType(ref b3SharedMemoryStatusHandle__ statusHandle) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///bodyIndicesOut: int*
|
|
///bodyIndicesCapacity: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusBodyIndices")]
|
|
public static extern int b3GetStatusBodyIndices(ref b3SharedMemoryStatusHandle__ statusHandle, ref int bodyIndicesOut, int bodyIndicesCapacity) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusBodyIndex")]
|
|
public static extern int b3GetStatusBodyIndex(ref b3SharedMemoryStatusHandle__ statusHandle) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///bodyUniqueId: int*
|
|
///numDegreeOfFreedomQ: int*
|
|
///numDegreeOfFreedomU: int*
|
|
///rootLocalInertialFrame: double**
|
|
///actualStateQ: double**
|
|
///actualStateQdot: double**
|
|
///jointReactionForces: double**
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusActualState")]
|
|
public static extern int b3GetStatusActualState(ref b3SharedMemoryStatusHandle__ statusHandle, ref int bodyUniqueId, ref int numDegreeOfFreedomQ, ref int numDegreeOfFreedomU, ref System.IntPtr rootLocalInertialFrame, ref System.IntPtr actualStateQ, ref System.IntPtr actualStateQdot, ref System.IntPtr jointReactionForces) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCollisionInfoCommandInit")]
|
|
public static extern System.IntPtr b3RequestCollisionInfoCommandInit(ref b3PhysicsClientHandle__ physClient, int bodyUniqueId) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///linkIndex: int
|
|
///aabbMin: double*
|
|
///aabbMax: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusAABB")]
|
|
public static extern int b3GetStatusAABB(ref b3SharedMemoryStatusHandle__ statusHandle, int linkIndex, ref double aabbMin, ref double aabbMax) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitSyncBodyInfoCommand")]
|
|
public static extern System.IntPtr b3InitSyncBodyInfoCommand(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitRemoveBodyCommand")]
|
|
public static extern System.IntPtr b3InitRemoveBodyCommand(ref b3PhysicsClientHandle__ physClient, int bodyUniqueId) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetNumBodies")]
|
|
public static extern int b3GetNumBodies(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///serialIndex: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetBodyUniqueId")]
|
|
public static extern int b3GetBodyUniqueId(ref b3PhysicsClientHandle__ physClient, int serialIndex) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyUniqueId: int
|
|
///info: b3BodyInfo*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetBodyInfo")]
|
|
public static extern int b3GetBodyInfo(ref b3PhysicsClientHandle__ physClient, int bodyUniqueId, ref b3BodyInfo info) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyIndex: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetNumJoints")]
|
|
public static extern int b3GetNumJoints(ref b3PhysicsClientHandle__ physClient, int bodyIndex) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyIndex: int
|
|
///jointIndex: int
|
|
///info: b3JointInfo*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetJointInfo")]
|
|
public static extern int b3GetJointInfo(ref b3PhysicsClientHandle__ physClient, int bodyIndex, int jointIndex, ref b3JointInfo info) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyUniqueId: int
|
|
///linkIndex: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetDynamicsInfoCommandInit")]
|
|
public static extern System.IntPtr b3GetDynamicsInfoCommandInit(ref b3PhysicsClientHandle__ physClient, int bodyUniqueId, int linkIndex) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///info: b3DynamicsInfo*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetDynamicsInfo")]
|
|
public static extern int b3GetDynamicsInfo(ref b3SharedMemoryStatusHandle__ statusHandle, ref b3DynamicsInfo info) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitChangeDynamicsInfo")]
|
|
public static extern System.IntPtr b3InitChangeDynamicsInfo(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linkIndex: int
|
|
///mass: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ChangeDynamicsInfoSetMass")]
|
|
public static extern int b3ChangeDynamicsInfoSetMass(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, int linkIndex, double mass) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linkIndex: int
|
|
///lateralFriction: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ChangeDynamicsInfoSetLateralFriction")]
|
|
public static extern int b3ChangeDynamicsInfoSetLateralFriction(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linkIndex: int
|
|
///friction: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ChangeDynamicsInfoSetSpinningFriction")]
|
|
public static extern int b3ChangeDynamicsInfoSetSpinningFriction(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, int linkIndex, double friction) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linkIndex: int
|
|
///friction: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ChangeDynamicsInfoSetRollingFriction")]
|
|
public static extern int b3ChangeDynamicsInfoSetRollingFriction(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, int linkIndex, double friction) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linkIndex: int
|
|
///restitution: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ChangeDynamicsInfoSetRestitution")]
|
|
public static extern int b3ChangeDynamicsInfoSetRestitution(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, int linkIndex, double restitution) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linearDamping: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ChangeDynamicsInfoSetLinearDamping")]
|
|
public static extern int b3ChangeDynamicsInfoSetLinearDamping(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, double linearDamping) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///angularDamping: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ChangeDynamicsInfoSetAngularDamping")]
|
|
public static extern int b3ChangeDynamicsInfoSetAngularDamping(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, double angularDamping) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linkIndex: int
|
|
///contactStiffness: double
|
|
///contactDamping: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ChangeDynamicsInfoSetContactStiffnessAndDamping")]
|
|
public static extern int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, int linkIndex, double contactStiffness, double contactDamping) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linkIndex: int
|
|
///frictionAnchor: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ChangeDynamicsInfoSetFrictionAnchor")]
|
|
public static extern int b3ChangeDynamicsInfoSetFrictionAnchor(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, int linkIndex, int frictionAnchor) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///parentBodyIndex: int
|
|
///parentJointIndex: int
|
|
///childBodyIndex: int
|
|
///childJointIndex: int
|
|
///info: b3JointInfo*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitCreateUserConstraintCommand")]
|
|
public static extern System.IntPtr b3InitCreateUserConstraintCommand(ref b3PhysicsClientHandle__ physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, ref b3JointInfo info) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusUserConstraintUniqueId")]
|
|
public static extern int b3GetStatusUserConstraintUniqueId(ref b3SharedMemoryStatusHandle__ statusHandle) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///userConstraintUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitChangeUserConstraintCommand")]
|
|
public static extern System.IntPtr b3InitChangeUserConstraintCommand(ref b3PhysicsClientHandle__ physClient, int userConstraintUniqueId) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///jointChildPivot: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitChangeUserConstraintSetPivotInB")]
|
|
public static extern int b3InitChangeUserConstraintSetPivotInB(ref b3SharedMemoryCommandHandle__ commandHandle, ref double jointChildPivot) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///jointChildFrameOrn: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitChangeUserConstraintSetFrameInB")]
|
|
public static extern int b3InitChangeUserConstraintSetFrameInB(ref b3SharedMemoryCommandHandle__ commandHandle, ref double jointChildFrameOrn) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///maxAppliedForce: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitChangeUserConstraintSetMaxForce")]
|
|
public static extern int b3InitChangeUserConstraintSetMaxForce(ref b3SharedMemoryCommandHandle__ commandHandle, double maxAppliedForce) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///gearRatio: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitChangeUserConstraintSetGearRatio")]
|
|
public static extern int b3InitChangeUserConstraintSetGearRatio(ref b3SharedMemoryCommandHandle__ commandHandle, double gearRatio) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///gearAuxLink: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitChangeUserConstraintSetGearAuxLink")]
|
|
public static extern int b3InitChangeUserConstraintSetGearAuxLink(ref b3SharedMemoryCommandHandle__ commandHandle, int gearAuxLink) ;
|
|
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|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///userConstraintUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitRemoveUserConstraintCommand")]
|
|
public static extern System.IntPtr b3InitRemoveUserConstraintCommand(ref b3PhysicsClientHandle__ physClient, int userConstraintUniqueId) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetNumUserConstraints")]
|
|
public static extern int b3GetNumUserConstraints(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
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|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///constraintUniqueId: int
|
|
///info: b3UserConstraint*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetUserConstraintInfo")]
|
|
public static extern int b3GetUserConstraintInfo(ref b3PhysicsClientHandle__ physClient, int constraintUniqueId, ref b3UserConstraint info) ;
|
|
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|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///serialIndex: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetUserConstraintId")]
|
|
public static extern int b3GetUserConstraintId(ref b3PhysicsClientHandle__ physClient, int serialIndex) ;
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|
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|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///debugMode: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitRequestDebugLinesCommand")]
|
|
public static extern System.IntPtr b3InitRequestDebugLinesCommand(ref b3PhysicsClientHandle__ physClient, int debugMode) ;
|
|
|
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|
|
/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///lines: b3DebugLines*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetDebugLines")]
|
|
public static extern void b3GetDebugLines(ref b3PhysicsClientHandle__ physClient, ref b3DebugLines lines) ;
|
|
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|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitConfigureOpenGLVisualizer")]
|
|
public static extern System.IntPtr b3InitConfigureOpenGLVisualizer(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///flag: int
|
|
///enabled: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ConfigureOpenGLVisualizerSetVisualizationFlags")]
|
|
public static extern void b3ConfigureOpenGLVisualizerSetVisualizationFlags(ref b3SharedMemoryCommandHandle__ commandHandle, int flag, int enabled) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///cameraDistance: float
|
|
///cameraPitch: float
|
|
///cameraYaw: float
|
|
///cameraTargetPosition: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ConfigureOpenGLVisualizerSetViewMatrix")]
|
|
public static extern void b3ConfigureOpenGLVisualizerSetViewMatrix(ref b3SharedMemoryCommandHandle__ commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, ref float cameraTargetPosition) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitRequestOpenGLVisualizerCameraCommand")]
|
|
public static extern System.IntPtr b3InitRequestOpenGLVisualizerCameraCommand(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///camera: b3OpenGLVisualizerCameraInfo*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusOpenGLVisualizerCamera")]
|
|
public static extern int b3GetStatusOpenGLVisualizerCamera(ref b3SharedMemoryStatusHandle__ statusHandle, ref b3OpenGLVisualizerCameraInfo camera) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///fromXYZ: double*
|
|
///toXYZ: double*
|
|
///colorRGB: double*
|
|
///lineWidth: double
|
|
///lifeTime: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitUserDebugDrawAddLine3D")]
|
|
public static extern System.IntPtr b3InitUserDebugDrawAddLine3D(ref b3PhysicsClientHandle__ physClient, ref double fromXYZ, ref double toXYZ, ref double colorRGB, double lineWidth, double lifeTime) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///txt: char*
|
|
///positionXYZ: double*
|
|
///colorRGB: double*
|
|
///textSize: double
|
|
///lifeTime: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitUserDebugDrawAddText3D")]
|
|
public static extern System.IntPtr b3InitUserDebugDrawAddText3D(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string txt, ref double positionXYZ, ref double colorRGB, double textSize, double lifeTime) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///optionFlags: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3UserDebugTextSetOptionFlags")]
|
|
public static extern void b3UserDebugTextSetOptionFlags(ref b3SharedMemoryCommandHandle__ commandHandle, int optionFlags) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///orientation: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3UserDebugTextSetOrientation")]
|
|
public static extern void b3UserDebugTextSetOrientation(ref b3SharedMemoryCommandHandle__ commandHandle, ref double orientation) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///objectUniqueId: int
|
|
///linkIndex: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3UserDebugItemSetParentObject")]
|
|
public static extern void b3UserDebugItemSetParentObject(ref b3SharedMemoryCommandHandle__ commandHandle, int objectUniqueId, int linkIndex) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///txt: char*
|
|
///rangeMin: double
|
|
///rangeMax: double
|
|
///startValue: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitUserDebugAddParameter")]
|
|
public static extern System.IntPtr b3InitUserDebugAddParameter(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string txt, double rangeMin, double rangeMax, double startValue) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///debugItemUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitUserDebugReadParameter")]
|
|
public static extern System.IntPtr b3InitUserDebugReadParameter(ref b3PhysicsClientHandle__ physClient, int debugItemUniqueId) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///paramValue: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusDebugParameterValue")]
|
|
public static extern int b3GetStatusDebugParameterValue(ref b3SharedMemoryStatusHandle__ statusHandle, ref double paramValue) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///debugItemUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitUserDebugDrawRemove")]
|
|
public static extern System.IntPtr b3InitUserDebugDrawRemove(ref b3PhysicsClientHandle__ physClient, int debugItemUniqueId) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitUserDebugDrawRemoveAll")]
|
|
public static extern System.IntPtr b3InitUserDebugDrawRemoveAll(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitDebugDrawingCommand")]
|
|
public static extern System.IntPtr b3InitDebugDrawingCommand(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///objectUniqueId: int
|
|
///linkIndex: int
|
|
///objectColorRGB: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetDebugObjectColor")]
|
|
public static extern void b3SetDebugObjectColor(ref b3SharedMemoryCommandHandle__ commandHandle, int objectUniqueId, int linkIndex, ref double objectColorRGB) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///objectUniqueId: int
|
|
///linkIndex: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RemoveDebugObjectColor")]
|
|
public static extern void b3RemoveDebugObjectColor(ref b3SharedMemoryCommandHandle__ commandHandle, int objectUniqueId, int linkIndex) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetDebugItemUniqueId")]
|
|
public static extern int b3GetDebugItemUniqueId(ref b3SharedMemoryStatusHandle__ statusHandle) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitRequestCameraImage")]
|
|
public static extern System.IntPtr b3InitRequestCameraImage(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///viewMatrix: float*
|
|
///projectionMatrix: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetCameraMatrices")]
|
|
public static extern void b3RequestCameraImageSetCameraMatrices(ref b3SharedMemoryCommandHandle__ command, ref float viewMatrix, ref float projectionMatrix) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///width: int
|
|
///height: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetPixelResolution")]
|
|
public static extern void b3RequestCameraImageSetPixelResolution(ref b3SharedMemoryCommandHandle__ command, int width, int height) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///lightDirection: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetLightDirection")]
|
|
public static extern void b3RequestCameraImageSetLightDirection(ref b3SharedMemoryCommandHandle__ commandHandle, ref float lightDirection) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///lightColor: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetLightColor")]
|
|
public static extern void b3RequestCameraImageSetLightColor(ref b3SharedMemoryCommandHandle__ commandHandle, ref float lightColor) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///lightDistance: float
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetLightDistance")]
|
|
public static extern void b3RequestCameraImageSetLightDistance(ref b3SharedMemoryCommandHandle__ commandHandle, float lightDistance) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///lightAmbientCoeff: float
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetLightAmbientCoeff")]
|
|
public static extern void b3RequestCameraImageSetLightAmbientCoeff(ref b3SharedMemoryCommandHandle__ commandHandle, float lightAmbientCoeff) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///lightDiffuseCoeff: float
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetLightDiffuseCoeff")]
|
|
public static extern void b3RequestCameraImageSetLightDiffuseCoeff(ref b3SharedMemoryCommandHandle__ commandHandle, float lightDiffuseCoeff) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///lightSpecularCoeff: float
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetLightSpecularCoeff")]
|
|
public static extern void b3RequestCameraImageSetLightSpecularCoeff(ref b3SharedMemoryCommandHandle__ commandHandle, float lightSpecularCoeff) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///hasShadow: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetShadow")]
|
|
public static extern void b3RequestCameraImageSetShadow(ref b3SharedMemoryCommandHandle__ commandHandle, int hasShadow) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///renderer: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSelectRenderer")]
|
|
public static extern void b3RequestCameraImageSelectRenderer(ref b3SharedMemoryCommandHandle__ commandHandle, int renderer) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///imageData: b3CameraImageData*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetCameraImageData")]
|
|
public static extern void b3GetCameraImageData(ref b3PhysicsClientHandle__ physClient, ref b3CameraImageData imageData) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///cameraPosition: float*
|
|
///cameraTargetPosition: float*
|
|
///cameraUp: float*
|
|
///viewMatrix: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ComputeViewMatrixFromPositions")]
|
|
public static extern void b3ComputeViewMatrixFromPositions(ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp, ref float viewMatrix) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///cameraTargetPosition: float*
|
|
///distance: float
|
|
///yaw: float
|
|
///pitch: float
|
|
///roll: float
|
|
///upAxis: int
|
|
///viewMatrix: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ComputeViewMatrixFromYawPitchRoll")]
|
|
public static extern void b3ComputeViewMatrixFromYawPitchRoll(ref float cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis, ref float viewMatrix) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///viewMatrix: float*
|
|
///cameraPosition: float*
|
|
///cameraTargetPosition: float*
|
|
///cameraUp: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ComputePositionFromViewMatrix")]
|
|
public static extern void b3ComputePositionFromViewMatrix(ref float viewMatrix, ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///left: float
|
|
///right: float
|
|
///bottom: float
|
|
///top: float
|
|
///nearVal: float
|
|
///farVal: float
|
|
///projectionMatrix: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ComputeProjectionMatrix")]
|
|
public static extern void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, ref float projectionMatrix) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///fov: float
|
|
///aspect: float
|
|
///nearVal: float
|
|
///farVal: float
|
|
///projectionMatrix: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ComputeProjectionMatrixFOV")]
|
|
public static extern void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, ref float projectionMatrix) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///cameraPosition: float*
|
|
///cameraTargetPosition: float*
|
|
///cameraUp: float*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetViewMatrix")]
|
|
public static extern void b3RequestCameraImageSetViewMatrix(ref b3SharedMemoryCommandHandle__ command, ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///cameraTargetPosition: float*
|
|
///distance: float
|
|
///yaw: float
|
|
///pitch: float
|
|
///roll: float
|
|
///upAxis: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetViewMatrix2")]
|
|
public static extern void b3RequestCameraImageSetViewMatrix2(ref b3SharedMemoryCommandHandle__ commandHandle, ref float cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///left: float
|
|
///right: float
|
|
///bottom: float
|
|
///top: float
|
|
///nearVal: float
|
|
///farVal: float
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetProjectionMatrix")]
|
|
public static extern void b3RequestCameraImageSetProjectionMatrix(ref b3SharedMemoryCommandHandle__ command, float left, float right, float bottom, float top, float nearVal, float farVal) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///fov: float
|
|
///aspect: float
|
|
///nearVal: float
|
|
///farVal: float
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestCameraImageSetFOVProjectionMatrix")]
|
|
public static extern void b3RequestCameraImageSetFOVProjectionMatrix(ref b3SharedMemoryCommandHandle__ command, float fov, float aspect, float nearVal, float farVal) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitRequestContactPointInformation")]
|
|
public static extern System.IntPtr b3InitRequestContactPointInformation(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueIdA: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetContactFilterBodyA")]
|
|
public static extern void b3SetContactFilterBodyA(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueIdA) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueIdB: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetContactFilterBodyB")]
|
|
public static extern void b3SetContactFilterBodyB(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueIdB) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///linkIndexA: int
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetContactFilterLinkA")]
|
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public static extern void b3SetContactFilterLinkA(ref b3SharedMemoryCommandHandle__ commandHandle, int linkIndexA) ;
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/// Return Type: void
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|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///linkIndexB: int
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetContactFilterLinkB")]
|
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public static extern void b3SetContactFilterLinkB(ref b3SharedMemoryCommandHandle__ commandHandle, int linkIndexB) ;
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/// Return Type: void
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|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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|
///contactPointInfo: b3ContactInformation*
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetContactPointInformation")]
|
|
public static extern void b3GetContactPointInformation(ref b3PhysicsClientHandle__ physClient, ref b3ContactInformation contactPointInfo) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitClosestDistanceQuery")]
|
|
public static extern System.IntPtr b3InitClosestDistanceQuery(ref b3PhysicsClientHandle__ physClient) ;
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/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///bodyUniqueIdA: int
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetClosestDistanceFilterBodyA")]
|
|
public static extern void b3SetClosestDistanceFilterBodyA(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueIdA) ;
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/// Return Type: void
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///linkIndexA: int
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetClosestDistanceFilterLinkA")]
|
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public static extern void b3SetClosestDistanceFilterLinkA(ref b3SharedMemoryCommandHandle__ commandHandle, int linkIndexA) ;
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/// Return Type: void
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///bodyUniqueIdB: int
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetClosestDistanceFilterBodyB")]
|
|
public static extern void b3SetClosestDistanceFilterBodyB(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueIdB) ;
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/// Return Type: void
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|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///linkIndexB: int
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetClosestDistanceFilterLinkB")]
|
|
public static extern void b3SetClosestDistanceFilterLinkB(ref b3SharedMemoryCommandHandle__ commandHandle, int linkIndexB) ;
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/// Return Type: void
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|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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|
///distance: double
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetClosestDistanceThreshold")]
|
|
public static extern void b3SetClosestDistanceThreshold(ref b3SharedMemoryCommandHandle__ commandHandle, double distance) ;
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/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///contactPointInfo: b3ContactInformation*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetClosestPointInformation")]
|
|
public static extern void b3GetClosestPointInformation(ref b3PhysicsClientHandle__ physClient, ref b3ContactInformation contactPointInfo) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///aabbMin: double*
|
|
///aabbMax: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitAABBOverlapQuery")]
|
|
public static extern System.IntPtr b3InitAABBOverlapQuery(ref b3PhysicsClientHandle__ physClient, ref double aabbMin, ref double aabbMax) ;
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/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///data: b3AABBOverlapData*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetAABBOverlapResults")]
|
|
public static extern void b3GetAABBOverlapResults(ref b3PhysicsClientHandle__ physClient, ref b3AABBOverlapData data) ;
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|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyUniqueIdA: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitRequestVisualShapeInformation")]
|
|
public static extern System.IntPtr b3InitRequestVisualShapeInformation(ref b3PhysicsClientHandle__ physClient, int bodyUniqueIdA) ;
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|
/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///visualShapeInfo: b3VisualShapeInformation*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetVisualShapeInformation")]
|
|
public static extern void b3GetVisualShapeInformation(ref b3PhysicsClientHandle__ physClient, ref b3VisualShapeInformation visualShapeInfo) ;
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|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///filename: char*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitLoadTexture")]
|
|
public static extern System.IntPtr b3InitLoadTexture(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string filename) ;
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|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusTextureUniqueId")]
|
|
public static extern int b3GetStatusTextureUniqueId(ref b3SharedMemoryStatusHandle__ statusHandle) ;
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|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///textureUniqueId: int
|
|
///width: int
|
|
///height: int
|
|
///rgbPixels: char*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateChangeTextureCommandInit")]
|
|
public static extern System.IntPtr b3CreateChangeTextureCommandInit(ref b3PhysicsClientHandle__ physClient, int textureUniqueId, int width, int height, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string rgbPixels) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyUniqueId: int
|
|
///jointIndex: int
|
|
///shapeIndex: int
|
|
///textureUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitUpdateVisualShape")]
|
|
public static extern System.IntPtr b3InitUpdateVisualShape(ref b3PhysicsClientHandle__ physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///rgbaColor: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3UpdateVisualShapeRGBAColor")]
|
|
public static extern void b3UpdateVisualShapeRGBAColor(ref b3SharedMemoryCommandHandle__ commandHandle, ref double rgbaColor) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///specularColor: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3UpdateVisualShapeSpecularColor")]
|
|
public static extern void b3UpdateVisualShapeSpecularColor(ref b3SharedMemoryCommandHandle__ commandHandle, ref double specularColor) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitPhysicsParamCommand")]
|
|
public static extern System.IntPtr b3InitPhysicsParamCommand(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///gravx: double
|
|
///gravy: double
|
|
///gravz: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetGravity")]
|
|
public static extern int b3PhysicsParamSetGravity(ref b3SharedMemoryCommandHandle__ commandHandle, double gravx, double gravy, double gravz) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///timeStep: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetTimeStep")]
|
|
public static extern int b3PhysicsParamSetTimeStep(ref b3SharedMemoryCommandHandle__ commandHandle, double timeStep) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///defaultContactERP: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetDefaultContactERP")]
|
|
public static extern int b3PhysicsParamSetDefaultContactERP(ref b3SharedMemoryCommandHandle__ commandHandle, double defaultContactERP) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///defaultNonContactERP: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetDefaultNonContactERP")]
|
|
public static extern int b3PhysicsParamSetDefaultNonContactERP(ref b3SharedMemoryCommandHandle__ commandHandle, double defaultNonContactERP) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///frictionERP: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetDefaultFrictionERP")]
|
|
public static extern int b3PhysicsParamSetDefaultFrictionERP(ref b3SharedMemoryCommandHandle__ commandHandle, double frictionERP) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///numSubSteps: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetNumSubSteps")]
|
|
public static extern int b3PhysicsParamSetNumSubSteps(ref b3SharedMemoryCommandHandle__ commandHandle, int numSubSteps) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///enableRealTimeSimulation: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetRealTimeSimulation")]
|
|
public static extern int b3PhysicsParamSetRealTimeSimulation(ref b3SharedMemoryCommandHandle__ commandHandle, int enableRealTimeSimulation) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///numSolverIterations: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetNumSolverIterations")]
|
|
public static extern int b3PhysicsParamSetNumSolverIterations(ref b3SharedMemoryCommandHandle__ commandHandle, int numSolverIterations) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///filterMode: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetCollisionFilterMode")]
|
|
public static extern int b3PhysicsParamSetCollisionFilterMode(ref b3SharedMemoryCommandHandle__ commandHandle, int filterMode) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///useSplitImpulse: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetUseSplitImpulse")]
|
|
public static extern int b3PhysicsParamSetUseSplitImpulse(ref b3SharedMemoryCommandHandle__ commandHandle, int useSplitImpulse) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///splitImpulsePenetrationThreshold: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetSplitImpulsePenetrationThreshold")]
|
|
public static extern int b3PhysicsParamSetSplitImpulsePenetrationThreshold(ref b3SharedMemoryCommandHandle__ commandHandle, double splitImpulsePenetrationThreshold) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///contactBreakingThreshold: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetContactBreakingThreshold")]
|
|
public static extern int b3PhysicsParamSetContactBreakingThreshold(ref b3SharedMemoryCommandHandle__ commandHandle, double contactBreakingThreshold) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///maxNumCmdPer1ms: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetMaxNumCommandsPer1ms")]
|
|
public static extern int b3PhysicsParamSetMaxNumCommandsPer1ms(ref b3SharedMemoryCommandHandle__ commandHandle, int maxNumCmdPer1ms) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///enableFileCaching: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetEnableFileCaching")]
|
|
public static extern int b3PhysicsParamSetEnableFileCaching(ref b3SharedMemoryCommandHandle__ commandHandle, int enableFileCaching) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///restitutionVelocityThreshold: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetRestitutionVelocityThreshold")]
|
|
public static extern int b3PhysicsParamSetRestitutionVelocityThreshold(ref b3SharedMemoryCommandHandle__ commandHandle, double restitutionVelocityThreshold) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///flags: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PhysicsParamSetInternalSimFlags")]
|
|
public static extern int b3PhysicsParamSetInternalSimFlags(ref b3SharedMemoryCommandHandle__ commandHandle, int flags) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitStepSimulationCommand")]
|
|
public static extern System.IntPtr b3InitStepSimulationCommand(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InitResetSimulationCommand")]
|
|
public static extern System.IntPtr b3InitResetSimulationCommand(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///urdfFileName: char*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadUrdfCommandInit")]
|
|
public static extern System.IntPtr b3LoadUrdfCommandInit(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string urdfFileName) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///startPosX: double
|
|
///startPosY: double
|
|
///startPosZ: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadUrdfCommandSetStartPosition")]
|
|
public static extern int b3LoadUrdfCommandSetStartPosition(ref b3SharedMemoryCommandHandle__ commandHandle, double startPosX, double startPosY, double startPosZ) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///startOrnX: double
|
|
///startOrnY: double
|
|
///startOrnZ: double
|
|
///startOrnW: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadUrdfCommandSetStartOrientation")]
|
|
public static extern int b3LoadUrdfCommandSetStartOrientation(ref b3SharedMemoryCommandHandle__ commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///useMultiBody: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadUrdfCommandSetUseMultiBody")]
|
|
public static extern int b3LoadUrdfCommandSetUseMultiBody(ref b3SharedMemoryCommandHandle__ commandHandle, int useMultiBody) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///useFixedBase: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadUrdfCommandSetUseFixedBase")]
|
|
public static extern int b3LoadUrdfCommandSetUseFixedBase(ref b3SharedMemoryCommandHandle__ commandHandle, int useFixedBase) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///flags: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadUrdfCommandSetFlags")]
|
|
public static extern int b3LoadUrdfCommandSetFlags(ref b3SharedMemoryCommandHandle__ commandHandle, int flags) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///globalScaling: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadUrdfCommandSetGlobalScaling")]
|
|
public static extern int b3LoadUrdfCommandSetGlobalScaling(ref b3SharedMemoryCommandHandle__ commandHandle, double globalScaling) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///fileName: char*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadBulletCommandInit")]
|
|
public static extern System.IntPtr b3LoadBulletCommandInit(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///fileName: char*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SaveBulletCommandInit")]
|
|
public static extern System.IntPtr b3SaveBulletCommandInit(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///fileName: char*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadMJCFCommandInit")]
|
|
public static extern System.IntPtr b3LoadMJCFCommandInit(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///flags: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadMJCFCommandSetFlags")]
|
|
public static extern void b3LoadMJCFCommandSetFlags(ref b3SharedMemoryCommandHandle__ commandHandle, int flags) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyIndex: int
|
|
///jointPositionsQ: double*
|
|
///jointVelocitiesQdot: double*
|
|
///jointAccelerations: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CalculateInverseDynamicsCommandInit")]
|
|
public static extern System.IntPtr b3CalculateInverseDynamicsCommandInit(ref b3PhysicsClientHandle__ physClient, int bodyIndex, ref double jointPositionsQ, ref double jointVelocitiesQdot, ref double jointAccelerations) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///bodyUniqueId: int*
|
|
///dofCount: int*
|
|
///jointForces: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusInverseDynamicsJointForces")]
|
|
public static extern int b3GetStatusInverseDynamicsJointForces(ref b3SharedMemoryStatusHandle__ statusHandle, ref int bodyUniqueId, ref int dofCount, ref double jointForces) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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///bodyIndex: int
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///linkIndex: int
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///localPosition: double*
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///jointPositionsQ: double*
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///jointVelocitiesQdot: double*
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///jointAccelerations: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CalculateJacobianCommandInit")]
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public static extern System.IntPtr b3CalculateJacobianCommandInit(ref b3PhysicsClientHandle__ physClient, int bodyIndex, int linkIndex, ref double localPosition, ref double jointPositionsQ, ref double jointVelocitiesQdot, ref double jointAccelerations) ;
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/// Return Type: int
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///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
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///linearJacobian: double*
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///angularJacobian: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusJacobian")]
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public static extern int b3GetStatusJacobian(ref b3SharedMemoryStatusHandle__ statusHandle, ref double linearJacobian, ref double angularJacobian) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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///bodyIndex: int
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CalculateInverseKinematicsCommandInit")]
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public static extern System.IntPtr b3CalculateInverseKinematicsCommandInit(ref b3PhysicsClientHandle__ physClient, int bodyIndex) ;
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/// Return Type: void
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///endEffectorLinkIndex: int
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///targetPosition: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CalculateInverseKinematicsAddTargetPurePosition")]
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public static extern void b3CalculateInverseKinematicsAddTargetPurePosition(ref b3SharedMemoryCommandHandle__ commandHandle, int endEffectorLinkIndex, ref double targetPosition) ;
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/// Return Type: void
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///endEffectorLinkIndex: int
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///targetPosition: double*
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///targetOrientation: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CalculateInverseKinematicsAddTargetPositionWithOrientation")]
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public static extern void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(ref b3SharedMemoryCommandHandle__ commandHandle, int endEffectorLinkIndex, ref double targetPosition, ref double targetOrientation) ;
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/// Return Type: void
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///numDof: int
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///endEffectorLinkIndex: int
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///targetPosition: double*
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///lowerLimit: double*
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///upperLimit: double*
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///jointRange: double*
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///restPose: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CalculateInverseKinematicsPosWithNullSpaceVel")]
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public static extern void b3CalculateInverseKinematicsPosWithNullSpaceVel(ref b3SharedMemoryCommandHandle__ commandHandle, int numDof, int endEffectorLinkIndex, ref double targetPosition, ref double lowerLimit, ref double upperLimit, ref double jointRange, ref double restPose) ;
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/// Return Type: void
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///numDof: int
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///endEffectorLinkIndex: int
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///targetPosition: double*
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///targetOrientation: double*
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///lowerLimit: double*
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///upperLimit: double*
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///jointRange: double*
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///restPose: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CalculateInverseKinematicsPosOrnWithNullSpaceVel")]
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public static extern void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(ref b3SharedMemoryCommandHandle__ commandHandle, int numDof, int endEffectorLinkIndex, ref double targetPosition, ref double targetOrientation, ref double lowerLimit, ref double upperLimit, ref double jointRange, ref double restPose) ;
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/// Return Type: void
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///numDof: int
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|
///jointDampingCoeff: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CalculateInverseKinematicsSetJointDamping")]
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public static extern void b3CalculateInverseKinematicsSetJointDamping(ref b3SharedMemoryCommandHandle__ commandHandle, int numDof, ref double jointDampingCoeff) ;
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/// Return Type: int
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|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
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|
///bodyUniqueId: int*
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|
///dofCount: int*
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|
///jointPositions: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusInverseKinematicsJointPositions")]
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public static extern int b3GetStatusInverseKinematicsJointPositions(ref b3SharedMemoryStatusHandle__ statusHandle, ref int bodyUniqueId, ref int dofCount, ref double jointPositions) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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|
///sdfFileName: char*
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadSdfCommandInit")]
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|
public static extern System.IntPtr b3LoadSdfCommandInit(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string sdfFileName) ;
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/// Return Type: int
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|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///useMultiBody: int
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadSdfCommandSetUseMultiBody")]
|
|
public static extern int b3LoadSdfCommandSetUseMultiBody(ref b3SharedMemoryCommandHandle__ commandHandle, int useMultiBody) ;
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/// Return Type: int
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|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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|
///globalScaling: double
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadSdfCommandSetUseGlobalScaling")]
|
|
public static extern int b3LoadSdfCommandSetUseGlobalScaling(ref b3SharedMemoryCommandHandle__ commandHandle, double globalScaling) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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|
///sdfFileName: char*
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SaveWorldCommandInit")]
|
|
public static extern System.IntPtr b3SaveWorldCommandInit(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string sdfFileName) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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|
///controlMode: int
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3JointControlCommandInit")]
|
|
public static extern System.IntPtr b3JointControlCommandInit(ref b3PhysicsClientHandle__ physClient, int controlMode) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyUniqueId: int
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|
///controlMode: int
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3JointControlCommandInit2")]
|
|
public static extern System.IntPtr b3JointControlCommandInit2(ref b3PhysicsClientHandle__ physClient, int bodyUniqueId, int controlMode) ;
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/// Return Type: int
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|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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|
///qIndex: int
|
|
///value: double
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3JointControlSetDesiredPosition")]
|
|
public static extern int b3JointControlSetDesiredPosition(ref b3SharedMemoryCommandHandle__ commandHandle, int qIndex, double value) ;
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/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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|
///dofIndex: int
|
|
///value: double
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|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3JointControlSetKp")]
|
|
public static extern int b3JointControlSetKp(ref b3SharedMemoryCommandHandle__ commandHandle, int dofIndex, double value) ;
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|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///dofIndex: int
|
|
///value: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3JointControlSetKd")]
|
|
public static extern int b3JointControlSetKd(ref b3SharedMemoryCommandHandle__ commandHandle, int dofIndex, double value) ;
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|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///dofIndex: int
|
|
///value: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3JointControlSetDesiredVelocity")]
|
|
public static extern int b3JointControlSetDesiredVelocity(ref b3SharedMemoryCommandHandle__ commandHandle, int dofIndex, double value) ;
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|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///dofIndex: int
|
|
///value: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3JointControlSetMaximumForce")]
|
|
public static extern int b3JointControlSetMaximumForce(ref b3SharedMemoryCommandHandle__ commandHandle, int dofIndex, double value) ;
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|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///dofIndex: int
|
|
///value: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3JointControlSetDesiredForceTorque")]
|
|
public static extern int b3JointControlSetDesiredForceTorque(ref b3SharedMemoryCommandHandle__ commandHandle, int dofIndex, double value) ;
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|
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|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateCollisionShapeCommandInit")]
|
|
public static extern System.IntPtr b3CreateCollisionShapeCommandInit(ref b3PhysicsClientHandle__ physClient) ;
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|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///radius: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateCollisionShapeAddSphere")]
|
|
public static extern int b3CreateCollisionShapeAddSphere(ref b3SharedMemoryCommandHandle__ commandHandle, double radius) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///halfExtents: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateCollisionShapeAddBox")]
|
|
public static extern int b3CreateCollisionShapeAddBox(ref b3SharedMemoryCommandHandle__ commandHandle, ref double halfExtents) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///radius: double
|
|
///height: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateCollisionShapeAddCapsule")]
|
|
public static extern int b3CreateCollisionShapeAddCapsule(ref b3SharedMemoryCommandHandle__ commandHandle, double radius, double height) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///radius: double
|
|
///height: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateCollisionShapeAddCylinder")]
|
|
public static extern int b3CreateCollisionShapeAddCylinder(ref b3SharedMemoryCommandHandle__ commandHandle, double radius, double height) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///planeNormal: double*
|
|
///planeConstant: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateCollisionShapeAddPlane")]
|
|
public static extern int b3CreateCollisionShapeAddPlane(ref b3SharedMemoryCommandHandle__ commandHandle, ref double planeNormal, double planeConstant) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///fileName: char*
|
|
///meshScale: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateCollisionShapeAddMesh")]
|
|
public static extern int b3CreateCollisionShapeAddMesh(ref b3SharedMemoryCommandHandle__ commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName, ref double meshScale) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///shapeIndex: int
|
|
///flags: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateCollisionSetFlag")]
|
|
public static extern void b3CreateCollisionSetFlag(ref b3SharedMemoryCommandHandle__ commandHandle, int shapeIndex, int flags) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///shapeIndex: int
|
|
///childPosition: double*
|
|
///childOrientation: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateCollisionShapeSetChildTransform")]
|
|
public static extern void b3CreateCollisionShapeSetChildTransform(ref b3SharedMemoryCommandHandle__ commandHandle, int shapeIndex, ref double childPosition, ref double childOrientation) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusCollisionShapeUniqueId")]
|
|
public static extern int b3GetStatusCollisionShapeUniqueId(ref b3SharedMemoryStatusHandle__ statusHandle) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateVisualShapeCommandInit")]
|
|
public static extern System.IntPtr b3CreateVisualShapeCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusVisualShapeUniqueId")]
|
|
public static extern int b3GetStatusVisualShapeUniqueId(ref b3SharedMemoryStatusHandle__ statusHandle) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateMultiBodyCommandInit")]
|
|
public static extern System.IntPtr b3CreateMultiBodyCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///mass: double
|
|
///collisionShapeUnique: int
|
|
///visualShapeUniqueId: int
|
|
///basePosition: double*
|
|
///baseOrientation: double*
|
|
///baseInertialFramePosition: double*
|
|
///baseInertialFrameOrientation: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateMultiBodyBase")]
|
|
public static extern int b3CreateMultiBodyBase(ref b3SharedMemoryCommandHandle__ commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, ref double basePosition, ref double baseOrientation, ref double baseInertialFramePosition, ref double baseInertialFrameOrientation) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///linkMass: double
|
|
///linkCollisionShapeIndex: double
|
|
///linkVisualShapeIndex: double
|
|
///linkPosition: double*
|
|
///linkOrientation: double*
|
|
///linkInertialFramePosition: double*
|
|
///linkInertialFrameOrientation: double*
|
|
///linkParentIndex: int
|
|
///linkJointType: int
|
|
///linkJointAxis: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateMultiBodyLink")]
|
|
public static extern int b3CreateMultiBodyLink(ref b3SharedMemoryCommandHandle__ commandHandle, double linkMass, double linkCollisionShapeIndex, double linkVisualShapeIndex, ref double linkPosition, ref double linkOrientation, ref double linkInertialFramePosition, ref double linkInertialFrameOrientation, int linkParentIndex, int linkJointType, ref double linkJointAxis) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateMultiBodyUseMaximalCoordinates")]
|
|
public static extern void b3CreateMultiBodyUseMaximalCoordinates(ref b3SharedMemoryCommandHandle__ commandHandle) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateBoxShapeCommandInit")]
|
|
public static extern System.IntPtr b3CreateBoxShapeCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///startPosX: double
|
|
///startPosY: double
|
|
///startPosZ: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateBoxCommandSetStartPosition")]
|
|
public static extern int b3CreateBoxCommandSetStartPosition(ref b3SharedMemoryCommandHandle__ commandHandle, double startPosX, double startPosY, double startPosZ) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///startOrnX: double
|
|
///startOrnY: double
|
|
///startOrnZ: double
|
|
///startOrnW: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateBoxCommandSetStartOrientation")]
|
|
public static extern int b3CreateBoxCommandSetStartOrientation(ref b3SharedMemoryCommandHandle__ commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///halfExtentsX: double
|
|
///halfExtentsY: double
|
|
///halfExtentsZ: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateBoxCommandSetHalfExtents")]
|
|
public static extern int b3CreateBoxCommandSetHalfExtents(ref b3SharedMemoryCommandHandle__ commandHandle, double halfExtentsX, double halfExtentsY, double halfExtentsZ) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///mass: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateBoxCommandSetMass")]
|
|
public static extern int b3CreateBoxCommandSetMass(ref b3SharedMemoryCommandHandle__ commandHandle, double mass) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///collisionShapeType: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateBoxCommandSetCollisionShapeType")]
|
|
public static extern int b3CreateBoxCommandSetCollisionShapeType(ref b3SharedMemoryCommandHandle__ commandHandle, int collisionShapeType) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///red: double
|
|
///green: double
|
|
///blue: double
|
|
///alpha: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateBoxCommandSetColorRGBA")]
|
|
public static extern int b3CreateBoxCommandSetColorRGBA(ref b3SharedMemoryCommandHandle__ commandHandle, double red, double green, double blue, double alpha) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyIndex: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreatePoseCommandInit")]
|
|
public static extern System.IntPtr b3CreatePoseCommandInit(ref b3PhysicsClientHandle__ physClient, int bodyIndex) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///startPosX: double
|
|
///startPosY: double
|
|
///startPosZ: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreatePoseCommandSetBasePosition")]
|
|
public static extern int b3CreatePoseCommandSetBasePosition(ref b3SharedMemoryCommandHandle__ commandHandle, double startPosX, double startPosY, double startPosZ) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///startOrnX: double
|
|
///startOrnY: double
|
|
///startOrnZ: double
|
|
///startOrnW: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreatePoseCommandSetBaseOrientation")]
|
|
public static extern int b3CreatePoseCommandSetBaseOrientation(ref b3SharedMemoryCommandHandle__ commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///linVel: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreatePoseCommandSetBaseLinearVelocity")]
|
|
public static extern int b3CreatePoseCommandSetBaseLinearVelocity(ref b3SharedMemoryCommandHandle__ commandHandle, ref double linVel) ;
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/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///angVel: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreatePoseCommandSetBaseAngularVelocity")]
|
|
public static extern int b3CreatePoseCommandSetBaseAngularVelocity(ref b3SharedMemoryCommandHandle__ commandHandle, ref double angVel) ;
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/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///numJointPositions: int
|
|
///jointPositions: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreatePoseCommandSetJointPositions")]
|
|
public static extern int b3CreatePoseCommandSetJointPositions(ref b3SharedMemoryCommandHandle__ commandHandle, int numJointPositions, ref double jointPositions) ;
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/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///jointIndex: int
|
|
///jointPosition: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreatePoseCommandSetJointPosition")]
|
|
public static extern int b3CreatePoseCommandSetJointPosition(ref b3PhysicsClientHandle__ physClient, ref b3SharedMemoryCommandHandle__ commandHandle, int jointIndex, double jointPosition) ;
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/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
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///numJointVelocities: int
|
|
///jointVelocities: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreatePoseCommandSetJointVelocities")]
|
|
public static extern int b3CreatePoseCommandSetJointVelocities(ref b3PhysicsClientHandle__ physClient, ref b3SharedMemoryCommandHandle__ commandHandle, int numJointVelocities, ref double jointVelocities) ;
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/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
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///jointIndex: int
|
|
///jointVelocity: double
|
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreatePoseCommandSetJointVelocity")]
|
|
public static extern int b3CreatePoseCommandSetJointVelocity(ref b3PhysicsClientHandle__ physClient, ref b3SharedMemoryCommandHandle__ commandHandle, int jointIndex, double jointVelocity) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateSensorCommandInit")]
|
|
public static extern System.IntPtr b3CreateSensorCommandInit(ref b3PhysicsClientHandle__ physClient, int bodyUniqueId) ;
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/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///jointIndex: int
|
|
///enable: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateSensorEnable6DofJointForceTorqueSensor")]
|
|
public static extern int b3CreateSensorEnable6DofJointForceTorqueSensor(ref b3SharedMemoryCommandHandle__ commandHandle, int jointIndex, int enable) ;
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/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///linkIndex: int
|
|
///enable: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateSensorEnableIMUForLink")]
|
|
public static extern int b3CreateSensorEnableIMUForLink(ref b3SharedMemoryCommandHandle__ commandHandle, int linkIndex, int enable) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///bodyUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestActualStateCommandInit")]
|
|
public static extern System.IntPtr b3RequestActualStateCommandInit(ref b3PhysicsClientHandle__ physClient, int bodyUniqueId) ;
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/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///computeLinkVelocity: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestActualStateCommandComputeLinkVelocity")]
|
|
public static extern int b3RequestActualStateCommandComputeLinkVelocity(ref b3SharedMemoryCommandHandle__ commandHandle, int computeLinkVelocity) ;
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|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///jointIndex: int
|
|
///state: b3JointSensorState*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetJointState")]
|
|
public static extern int b3GetJointState(ref b3PhysicsClientHandle__ physClient, ref b3SharedMemoryStatusHandle__ statusHandle, int jointIndex, ref b3JointSensorState state) ;
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|
|
/// Return Type: int
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
///linkIndex: int
|
|
///state: b3LinkState*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetLinkState")]
|
|
public static extern int b3GetLinkState(ref b3PhysicsClientHandle__ physClient, ref b3SharedMemoryStatusHandle__ statusHandle, int linkIndex, ref b3LinkState state) ;
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|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///rayFromWorldX: double
|
|
///rayFromWorldY: double
|
|
///rayFromWorldZ: double
|
|
///rayToWorldX: double
|
|
///rayToWorldY: double
|
|
///rayToWorldZ: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3PickBody")]
|
|
public static extern System.IntPtr b3PickBody(ref b3PhysicsClientHandle__ physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;
|
|
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|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///rayFromWorldX: double
|
|
///rayFromWorldY: double
|
|
///rayFromWorldZ: double
|
|
///rayToWorldX: double
|
|
///rayToWorldY: double
|
|
///rayToWorldZ: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3MovePickedBody")]
|
|
public static extern System.IntPtr b3MovePickedBody(ref b3PhysicsClientHandle__ physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RemovePickingConstraint")]
|
|
public static extern System.IntPtr b3RemovePickingConstraint(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///rayFromWorldX: double
|
|
///rayFromWorldY: double
|
|
///rayFromWorldZ: double
|
|
///rayToWorldX: double
|
|
///rayToWorldY: double
|
|
///rayToWorldZ: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateRaycastCommandInit")]
|
|
public static extern System.IntPtr b3CreateRaycastCommandInit(ref b3PhysicsClientHandle__ physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3CreateRaycastBatchCommandInit")]
|
|
public static extern System.IntPtr b3CreateRaycastBatchCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///rayFromWorld: double*
|
|
///rayToWorld: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RaycastBatchAddRay")]
|
|
public static extern void b3RaycastBatchAddRay(ref b3SharedMemoryCommandHandle__ commandHandle, ref double rayFromWorld, ref double rayToWorld) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///raycastInfo: b3RaycastInformation*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetRaycastInformation")]
|
|
public static extern void b3GetRaycastInformation(ref b3PhysicsClientHandle__ physClient, ref b3RaycastInformation raycastInfo) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ApplyExternalForceCommandInit")]
|
|
public static extern System.IntPtr b3ApplyExternalForceCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linkId: int
|
|
///force: double*
|
|
///position: double*
|
|
///flags: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ApplyExternalForce")]
|
|
public static extern void b3ApplyExternalForce(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, int linkId, ref double force, ref double position, int flags) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyUniqueId: int
|
|
///linkId: int
|
|
///torque: double*
|
|
///flags: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ApplyExternalTorque")]
|
|
public static extern void b3ApplyExternalTorque(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyUniqueId, int linkId, ref double torque, int flags) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadBunnyCommandInit")]
|
|
public static extern System.IntPtr b3LoadBunnyCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///scale: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadBunnySetScale")]
|
|
public static extern int b3LoadBunnySetScale(ref b3SharedMemoryCommandHandle__ commandHandle, double scale) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///mass: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadBunnySetMass")]
|
|
public static extern int b3LoadBunnySetMass(ref b3SharedMemoryCommandHandle__ commandHandle, double mass) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///collisionMargin: double
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3LoadBunnySetCollisionMargin")]
|
|
public static extern int b3LoadBunnySetCollisionMargin(ref b3SharedMemoryCommandHandle__ commandHandle, double collisionMargin) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestVREventsCommandInit")]
|
|
public static extern System.IntPtr b3RequestVREventsCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///deviceTypeFilter: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3VREventsSetDeviceTypeFilter")]
|
|
public static extern void b3VREventsSetDeviceTypeFilter(ref b3SharedMemoryCommandHandle__ commandHandle, int deviceTypeFilter) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///vrEventsData: b3VREventsData*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetVREventsData")]
|
|
public static extern void b3GetVREventsData(ref b3PhysicsClientHandle__ physClient, ref b3VREventsData vrEventsData) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetVRCameraStateCommandInit")]
|
|
public static extern System.IntPtr b3SetVRCameraStateCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///rootPos: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetVRCameraRootPosition")]
|
|
public static extern int b3SetVRCameraRootPosition(ref b3SharedMemoryCommandHandle__ commandHandle, ref double rootPos) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///rootOrn: double*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetVRCameraRootOrientation")]
|
|
public static extern int b3SetVRCameraRootOrientation(ref b3SharedMemoryCommandHandle__ commandHandle, ref double rootOrn) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///objectUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetVRCameraTrackingObject")]
|
|
public static extern int b3SetVRCameraTrackingObject(ref b3SharedMemoryCommandHandle__ commandHandle, int objectUniqueId) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///flag: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetVRCameraTrackingObjectFlag")]
|
|
public static extern int b3SetVRCameraTrackingObjectFlag(ref b3SharedMemoryCommandHandle__ commandHandle, int flag) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestKeyboardEventsCommandInit")]
|
|
public static extern System.IntPtr b3RequestKeyboardEventsCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///keyboardEventsData: b3KeyboardEventsData*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetKeyboardEventsData")]
|
|
public static extern void b3GetKeyboardEventsData(ref b3PhysicsClientHandle__ physClient, ref b3KeyboardEventsData keyboardEventsData) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3RequestMouseEventsCommandInit")]
|
|
public static extern System.IntPtr b3RequestMouseEventsCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: void
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///mouseEventsData: b3MouseEventsData*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetMouseEventsData")]
|
|
public static extern void b3GetMouseEventsData(ref b3PhysicsClientHandle__ physClient, ref b3MouseEventsData mouseEventsData) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingCommandInit")]
|
|
public static extern System.IntPtr b3StateLoggingCommandInit(ref b3PhysicsClientHandle__ physClient) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///loggingType: int
|
|
///fileName: char*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingStart")]
|
|
public static extern int b3StateLoggingStart(ref b3SharedMemoryCommandHandle__ commandHandle, int loggingType, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///objectUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingAddLoggingObjectUniqueId")]
|
|
public static extern int b3StateLoggingAddLoggingObjectUniqueId(ref b3SharedMemoryCommandHandle__ commandHandle, int objectUniqueId) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///maxLogDof: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingSetMaxLogDof")]
|
|
public static extern int b3StateLoggingSetMaxLogDof(ref b3SharedMemoryCommandHandle__ commandHandle, int maxLogDof) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///linkIndexA: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingSetLinkIndexA")]
|
|
public static extern int b3StateLoggingSetLinkIndexA(ref b3SharedMemoryCommandHandle__ commandHandle, int linkIndexA) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///linkIndexB: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingSetLinkIndexB")]
|
|
public static extern int b3StateLoggingSetLinkIndexB(ref b3SharedMemoryCommandHandle__ commandHandle, int linkIndexB) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyAUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingSetBodyAUniqueId")]
|
|
public static extern int b3StateLoggingSetBodyAUniqueId(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyAUniqueId) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///bodyBUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingSetBodyBUniqueId")]
|
|
public static extern int b3StateLoggingSetBodyBUniqueId(ref b3SharedMemoryCommandHandle__ commandHandle, int bodyBUniqueId) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///deviceTypeFilter: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingSetDeviceTypeFilter")]
|
|
public static extern int b3StateLoggingSetDeviceTypeFilter(ref b3SharedMemoryCommandHandle__ commandHandle, int deviceTypeFilter) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///logFlags: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingSetLogFlags")]
|
|
public static extern int b3StateLoggingSetLogFlags(ref b3SharedMemoryCommandHandle__ commandHandle, int logFlags) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetStatusLoggingUniqueId")]
|
|
public static extern int b3GetStatusLoggingUniqueId(ref b3SharedMemoryStatusHandle__ statusHandle) ;
|
|
|
|
|
|
/// Return Type: int
|
|
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///loggingUniqueId: int
|
|
[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3StateLoggingStop")]
|
|
public static extern int b3StateLoggingStop(ref b3SharedMemoryCommandHandle__ commandHandle, int loggingUniqueId) ;
|
|
|
|
|
|
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
|
|
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
|
|
///name: char*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3ProfileTimingCommandInit")]
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public static extern System.IntPtr b3ProfileTimingCommandInit(ref b3PhysicsClientHandle__ physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name) ;
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/// Return Type: void
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///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///duration: int
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetProfileTimingDuractionInMicroSeconds")]
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public static extern void b3SetProfileTimingDuractionInMicroSeconds(ref b3SharedMemoryCommandHandle__ commandHandle, int duration) ;
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/// Return Type: void
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///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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///timeOutInSeconds: double
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetTimeOut")]
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public static extern void b3SetTimeOut(ref b3PhysicsClientHandle__ physClient, double timeOutInSeconds) ;
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/// Return Type: double
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///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3GetTimeOut")]
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public static extern double b3GetTimeOut(ref b3PhysicsClientHandle__ physClient) ;
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/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
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///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
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///path: char*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3SetAdditionalSearchPath")]
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public static extern System.IntPtr b3SetAdditionalSearchPath(ref b3PhysicsClientHandle__ physClient, System.IntPtr path) ;
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/// Return Type: void
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///posA: double*
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///ornA: double*
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///posB: double*
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///ornB: double*
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///outPos: double*
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///outOrn: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3MultiplyTransforms")]
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public static extern void b3MultiplyTransforms(ref double posA, ref double ornA, ref double posB, ref double ornB, ref double outPos, ref double outOrn) ;
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/// Return Type: void
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///pos: double*
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///orn: double*
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///outPos: double*
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///outOrn: double*
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[System.Runtime.InteropServices.DllImportAttribute("<Unknown>", EntryPoint="b3InvertTransform")]
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public static extern void b3InvertTransform(ref double pos, ref double orn, ref double outPos, ref double outOrn) ;
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}
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