opensim – Blame information for rev 1
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1 | eva | 1 | /* |
2 | * Copyright ODE |
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3 | * Ode.NET - .NET bindings for ODE |
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4 | * Jason Perkins (starkos@industriousone.com) |
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5 | * Licensed under the New BSD |
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6 | * Part of the OpenDynamicsEngine |
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7 | Open Dynamics Engine |
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8 | Copyright (c) 2001-2007, Russell L. Smith. |
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9 | All rights reserved. |
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10 | |||
11 | Redistribution and use in source and binary forms, with or without |
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12 | modification, are permitted provided that the following conditions |
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13 | are met: |
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14 | |||
15 | Redistributions of source code must retain the above copyright notice, |
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16 | this list of conditions and the following disclaimer. |
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17 | |||
18 | Redistributions in binary form must reproduce the above copyright notice, |
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19 | this list of conditions and the following disclaimer in the documentation |
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20 | and/or other materials provided with the distribution. |
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21 | |||
22 | Neither the names of ODE's copyright owner nor the names of its |
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23 | contributors may be used to endorse or promote products derived from |
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24 | this software without specific prior written permission. |
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25 | |||
26 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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27 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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28 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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29 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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30 | OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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31 | SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED |
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32 | TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
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33 | PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF |
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34 | LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING |
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35 | NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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36 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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37 | * |
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38 | * |
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39 | */ |
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40 | |||
41 | using System; |
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42 | using System.Runtime.InteropServices; |
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43 | using Ode.NET; |
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44 | |||
45 | namespace Drawstuff.NET |
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46 | { |
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47 | #if dDOUBLE |
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48 | using dReal = System.Double; |
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49 | #else |
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50 | using dReal = System.Single; |
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51 | #endif |
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52 | |||
53 | public static class ds |
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54 | { |
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55 | public const int VERSION = 2; |
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56 | |||
57 | public enum Texture |
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58 | { |
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59 | None, |
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60 | Wood |
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61 | } |
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62 | |||
63 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
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64 | public delegate void CallbackFunction(int arg); |
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65 | |||
66 | [StructLayout(LayoutKind.Sequential)] |
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67 | public struct Functions |
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68 | { |
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69 | public int version; |
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70 | public CallbackFunction start; |
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71 | public CallbackFunction step; |
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72 | public CallbackFunction command; |
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73 | public CallbackFunction stop; |
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74 | public string path_to_textures; |
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75 | } |
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76 | |||
77 | [DllImport("drawstuff", EntryPoint = "dsDrawBox")] |
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78 | public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides); |
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79 | |||
80 | [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")] |
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81 | public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius); |
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82 | |||
83 | [DllImport("drawstuff", EntryPoint = "dsDrawConvex")] |
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84 | public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); |
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85 | |||
86 | [DllImport("drawstuff", EntryPoint = "dsSetColor")] |
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87 | public static extern void SetColor(float red, float green, float blue); |
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88 | |||
89 | [DllImport("drawstuff", EntryPoint = "dsSetTexture")] |
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90 | public static extern void SetTexture(Texture texture); |
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91 | |||
92 | [DllImport("drawstuff", EntryPoint = "dsSetViewpoint")] |
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93 | public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr); |
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94 | |||
95 | [DllImport("drawstuff", EntryPoint = "dsSimulationLoop")] |
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96 | public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn); |
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97 | } |
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98 | } |