// LordHavoc: this large chunk of definitions comes from the ODE library
// include files.
-//#ifndef ODE_STATIC
-//#define ODE_DYNAMIC 1
-//#endif
+#ifndef ODE_STATIC
+#define ODE_DYNAMIC 1
+#endif
#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
#define USEODE 1
#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
-ODE_API const char* (*dGetConfiguration)(void);
-ODE_API int (*dCheckConfiguration)( const char* token );
-ODE_API int (*dInitODE2)(unsigned int uiInitFlags);
-ODE_API int (*dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
-ODE_API void (*dCleanupODEAllDataForThread)(void);
-ODE_API void (*dCloseODE)(void);
-
-//ODE_API int (*dMassCheck)(const dMass *m);
-//ODE_API void (*dMassSetZero)(dMass *);
-//ODE_API void (*dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
-//ODE_API void (*dMassSetSphere)(dMass *, dReal density, dReal radius);
-ODE_API void (*dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
-//ODE_API void (*dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
-ODE_API void (*dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
-//ODE_API void (*dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
-//ODE_API void (*dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
-//ODE_API void (*dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
-ODE_API void (*dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
-//ODE_API void (*dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
-//ODE_API void (*dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
-//ODE_API void (*dMassAdjust)(dMass *, dReal newmass);
-//ODE_API void (*dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
-//ODE_API void (*dMassRotate)(dMass *, const dMatrix3 R);
-//ODE_API void (*dMassAdd)(dMass *a, const dMass *b);
+const char* (ODE_API *dGetConfiguration)(void);
+int (ODE_API *dCheckConfiguration)( const char* token );
+int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
+int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
+void (ODE_API *dCleanupODEAllDataForThread)(void);
+void (ODE_API *dCloseODE)(void);
+
+//int (ODE_API *dMassCheck)(const dMass *m);
+//void (ODE_API *dMassSetZero)(dMass *);
+//void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
+//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
+void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
+//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
+void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
+//void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
+void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
+//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
+//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
+//void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
+//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
+//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
+//void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
//
-ODE_API dWorldID (*dWorldCreate)(void);
-ODE_API void (*dWorldDestroy)(dWorldID world);
-ODE_API void (*dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
-//ODE_API void (*dWorldGetGravity)(dWorldID, dVector3 gravity);
-//ODE_API void (*dWorldSetERP)(dWorldID, dReal erp);
-//ODE_API dReal (*dWorldGetERP)(dWorldID);
-//ODE_API void (*dWorldSetCFM)(dWorldID, dReal cfm);
-//ODE_API dReal (*dWorldGetCFM)(dWorldID);
-ODE_API void (*dWorldStep)(dWorldID, dReal stepsize);
-//ODE_API void (*dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
-ODE_API void (*dWorldQuickStep)(dWorldID w, dReal stepsize);
-ODE_API void (*dWorldSetQuickStepNumIterations)(dWorldID, int num);
-//ODE_API int (*dWorldGetQuickStepNumIterations)(dWorldID);
-//ODE_API void (*dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
-//ODE_API dReal (*dWorldGetQuickStepW)(dWorldID);
-//ODE_API void (*dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
-//ODE_API dReal (*dWorldGetContactMaxCorrectingVel)(dWorldID);
-ODE_API void (*dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
-//ODE_API dReal (*dWorldGetContactSurfaceLayer)(dWorldID);
-ODE_API void (*dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
-//ODE_API void (*dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
-//ODE_API int (*dWorldGetAutoEnableDepthSF1)(dWorldID);
-//ODE_API dReal (*dWorldGetAutoDisableLinearThreshold)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
-//ODE_API dReal (*dWorldGetAutoDisableAngularThreshold)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
-//ODE_API dReal (*dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
-//ODE_API dReal (*dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
-//ODE_API int (*dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
-//ODE_API int (*dWorldGetAutoDisableSteps)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableSteps)(dWorldID, int steps);
-//ODE_API dReal (*dWorldGetAutoDisableTime)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableTime)(dWorldID, dReal time);
-//ODE_API int (*dWorldGetAutoDisableFlag)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
-//ODE_API dReal (*dWorldGetLinearDampingThreshold)(dWorldID w);
-//ODE_API void (*dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
-//ODE_API dReal (*dWorldGetAngularDampingThreshold)(dWorldID w);
-//ODE_API void (*dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
-//ODE_API dReal (*dWorldGetLinearDamping)(dWorldID w);
-//ODE_API void (*dWorldSetLinearDamping)(dWorldID w, dReal scale);
-//ODE_API dReal (*dWorldGetAngularDamping)(dWorldID w);
-//ODE_API void (*dWorldSetAngularDamping)(dWorldID w, dReal scale);
-//ODE_API void (*dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
-//ODE_API dReal (*dWorldGetMaxAngularSpeed)(dWorldID w);
-//ODE_API void (*dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
-//ODE_API dReal (*dBodyGetAutoDisableLinearThreshold)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
-//ODE_API dReal (*dBodyGetAutoDisableAngularThreshold)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
-//ODE_API int (*dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
-//ODE_API int (*dBodyGetAutoDisableSteps)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableSteps)(dBodyID, int steps);
-//ODE_API dReal (*dBodyGetAutoDisableTime)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableTime)(dBodyID, dReal time);
-//ODE_API int (*dBodyGetAutoDisableFlag)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
-//ODE_API void (*dBodySetAutoDisableDefaults)(dBodyID);
-//ODE_API dWorldID (*dBodyGetWorld)(dBodyID);
-ODE_API dBodyID (*dBodyCreate)(dWorldID);
-ODE_API void (*dBodyDestroy)(dBodyID);
-ODE_API void (*dBodySetData)(dBodyID, void *data);
-//ODE_API void * (*dBodyGetData)(dBodyID);
-ODE_API void (*dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
-ODE_API void (*dBodySetRotation)(dBodyID, const dMatrix3 R);
-//ODE_API void (*dBodySetQuaternion)(dBodyID, const dQuaternion q);
-ODE_API void (*dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
-ODE_API void (*dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
-ODE_API const dReal * (*dBodyGetPosition)(dBodyID);
-//ODE_API void (*dBodyCopyPosition)(dBodyID body, dVector3 pos);
-ODE_API const dReal * (*dBodyGetRotation)(dBodyID);
-//ODE_API void (*dBodyCopyRotation)(dBodyID, dMatrix3 R);
-//ODE_API const dReal * (*dBodyGetQuaternion)(dBodyID);
-//ODE_API void (*dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
-ODE_API const dReal * (*dBodyGetLinearVel)(dBodyID);
-ODE_API const dReal * (*dBodyGetAngularVel)(dBodyID);
-ODE_API void (*dBodySetMass)(dBodyID, const dMass *mass);
-//ODE_API void (*dBodyGetMass)(dBodyID, dMass *mass);
-//ODE_API void (*dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
-//ODE_API void (*dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
-//ODE_API void (*dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
-//ODE_API void (*dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
-//ODE_API void (*dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
-//ODE_API void (*dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
-//ODE_API void (*dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
-//ODE_API void (*dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
-//ODE_API const dReal * (*dBodyGetForce)(dBodyID);
-//ODE_API const dReal * (*dBodyGetTorque)(dBodyID);
-//ODE_API void (*dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
-//ODE_API void (*dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
-//ODE_API void (*dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodySetFiniteRotationMode)(dBodyID, int mode);
-//ODE_API void (*dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
-//ODE_API int (*dBodyGetFiniteRotationMode)(dBodyID);
-//ODE_API void (*dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
-//ODE_API int (*dBodyGetNumJoints)(dBodyID b);
-//ODE_API dJointID (*dBodyGetJoint)(dBodyID, int index);
-//ODE_API void (*dBodySetDynamic)(dBodyID);
-//ODE_API void (*dBodySetKinematic)(dBodyID);
-//ODE_API int (*dBodyIsKinematic)(dBodyID);
-//ODE_API void (*dBodyEnable)(dBodyID);
-//ODE_API void (*dBodyDisable)(dBodyID);
-//ODE_API int (*dBodyIsEnabled)(dBodyID);
-//ODE_API void (*dBodySetGravityMode)(dBodyID b, int mode);
-//ODE_API int (*dBodyGetGravityMode)(dBodyID b);
-//ODE_API void (*dBodySetMovedCallback)(dBodyID b, void(*callback)(dBodyID));
-//ODE_API dGeomID (*dBodyGetFirstGeom)(dBodyID b);
-//ODE_API dGeomID (*dBodyGetNextGeom)(dGeomID g);
-//ODE_API void (*dBodySetDampingDefaults)(dBodyID b);
-//ODE_API dReal (*dBodyGetLinearDamping)(dBodyID b);
-//ODE_API void (*dBodySetLinearDamping)(dBodyID b, dReal scale);
-//ODE_API dReal (*dBodyGetAngularDamping)(dBodyID b);
-//ODE_API void (*dBodySetAngularDamping)(dBodyID b, dReal scale);
-//ODE_API void (*dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
-//ODE_API dReal (*dBodyGetLinearDampingThreshold)(dBodyID b);
-//ODE_API void (*dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
-//ODE_API dReal (*dBodyGetAngularDampingThreshold)(dBodyID b);
-//ODE_API void (*dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
-//ODE_API dReal (*dBodyGetMaxAngularSpeed)(dBodyID b);
-//ODE_API void (*dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
-//ODE_API int (*dBodyGetGyroscopicMode)(dBodyID b);
-//ODE_API void (*dBodySetGyroscopicMode)(dBodyID b, int enabled);
-//ODE_API dJointID (*dJointCreateBall)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateHinge)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateSlider)(dWorldID, dJointGroupID);
-ODE_API dJointID (*dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
-//ODE_API dJointID (*dJointCreateHinge2)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateUniversal)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreatePR)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreatePU)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreatePiston)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateFixed)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateNull)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateAMotor)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateLMotor)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreatePlane2D)(dWorldID, dJointGroupID);
-//ODE_API void (*dJointDestroy)(dJointID);
-ODE_API dJointGroupID (*dJointGroupCreate)(int max_size);
-ODE_API void (*dJointGroupDestroy)(dJointGroupID);
-ODE_API void (*dJointGroupEmpty)(dJointGroupID);
-//ODE_API int (*dJointGetNumBodies)(dJointID);
-ODE_API void (*dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
-//ODE_API void (*dJointEnable)(dJointID);
-//ODE_API void (*dJointDisable)(dJointID);
-//ODE_API int (*dJointIsEnabled)(dJointID);
-//ODE_API void (*dJointSetData)(dJointID, void *data);
-//ODE_API void * (*dJointGetData)(dJointID);
-//ODE_API dJointType (*dJointGetType)(dJointID);
-//ODE_API dBodyID (*dJointGetBody)(dJointID, int index);
-//ODE_API void (*dJointSetFeedback)(dJointID, dJointFeedback *);
-//ODE_API dJointFeedback *(*dJointGetFeedback)(dJointID);
-//ODE_API void (*dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetBallParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
-//ODE_API void (*dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
-//ODE_API void (*dJointSetHingeParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddHingeTorque)(dJointID joint, dReal torque);
-//ODE_API void (*dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
-//ODE_API void (*dJointSetSliderParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddSliderForce)(dJointID joint, dReal force);
-//ODE_API void (*dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHinge2Param)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
-//ODE_API void (*dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
-//ODE_API void (*dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
-//ODE_API void (*dJointSetUniversalParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
-//ODE_API void (*dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPRParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddPRTorque)(dJointID j, dReal torque);
-//ODE_API void (*dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
-//ODE_API void (*dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddPUTorque)(dJointID j, dReal torque);
-//ODE_API void (*dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
-//ODE_API void (*dJointSetPistonParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddPistonForce)(dJointID joint, dReal force);
-//ODE_API void (*dJointSetFixed)(dJointID);
-//ODE_API void (*dJointSetFixedParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetAMotorNumAxes)(dJointID, int num);
-//ODE_API void (*dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
-//ODE_API void (*dJointSetAMotorParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetAMotorMode)(dJointID, int mode);
-//ODE_API void (*dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
-//ODE_API void (*dJointSetLMotorNumAxes)(dJointID, int num);
-//ODE_API void (*dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetLMotorParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointGetBallAnchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetBallAnchor2)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetBallParam)(dJointID, int parameter);
-//ODE_API void (*dJointGetHingeAnchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHingeAnchor2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHingeAxis)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetHingeParam)(dJointID, int parameter);
-//ODE_API dReal (*dJointGetHingeAngle)(dJointID);
-//ODE_API dReal (*dJointGetHingeAngleRate)(dJointID);
-//ODE_API dReal (*dJointGetSliderPosition)(dJointID);
-//ODE_API dReal (*dJointGetSliderPositionRate)(dJointID);
-//ODE_API void (*dJointGetSliderAxis)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetSliderParam)(dJointID, int parameter);
-//ODE_API void (*dJointGetHinge2Anchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHinge2Anchor2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHinge2Axis1)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHinge2Axis2)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetHinge2Param)(dJointID, int parameter);
-//ODE_API dReal (*dJointGetHinge2Angle1)(dJointID);
-//ODE_API dReal (*dJointGetHinge2Angle1Rate)(dJointID);
-//ODE_API dReal (*dJointGetHinge2Angle2Rate)(dJointID);
-//ODE_API void (*dJointGetUniversalAnchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetUniversalAnchor2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetUniversalAxis1)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetUniversalAxis2)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetUniversalParam)(dJointID, int parameter);
-//ODE_API void (*dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
-//ODE_API dReal (*dJointGetUniversalAngle1)(dJointID);
-//ODE_API dReal (*dJointGetUniversalAngle2)(dJointID);
-//ODE_API dReal (*dJointGetUniversalAngle1Rate)(dJointID);
-//ODE_API dReal (*dJointGetUniversalAngle2Rate)(dJointID);
-//ODE_API void (*dJointGetPRAnchor)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetPRPosition)(dJointID);
-//ODE_API dReal (*dJointGetPRPositionRate)(dJointID);
-//ODE_API dReal (*dJointGetPRAngle)(dJointID);
-//ODE_API dReal (*dJointGetPRAngleRate)(dJointID);
-//ODE_API void (*dJointGetPRAxis1)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPRAxis2)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetPRParam)(dJointID, int parameter);
-//ODE_API void (*dJointGetPUAnchor)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetPUPosition)(dJointID);
-//ODE_API dReal (*dJointGetPUPositionRate)(dJointID);
-//ODE_API void (*dJointGetPUAxis1)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPUAxis2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPUAxis3)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPUAxisP)(dJointID id, dVector3 result);
-//ODE_API void (*dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
-//ODE_API dReal (*dJointGetPUAngle1)(dJointID);
-//ODE_API dReal (*dJointGetPUAngle1Rate)(dJointID);
-//ODE_API dReal (*dJointGetPUAngle2)(dJointID);
-//ODE_API dReal (*dJointGetPUAngle2Rate)(dJointID);
-//ODE_API dReal (*dJointGetPUParam)(dJointID, int parameter);
-//ODE_API dReal (*dJointGetPistonPosition)(dJointID);
-//ODE_API dReal (*dJointGetPistonPositionRate)(dJointID);
-//ODE_API dReal (*dJointGetPistonAngle)(dJointID);
-//ODE_API dReal (*dJointGetPistonAngleRate)(dJointID);
-//ODE_API void (*dJointGetPistonAnchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPistonAnchor2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPistonAxis)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetPistonParam)(dJointID, int parameter);
-//ODE_API int (*dJointGetAMotorNumAxes)(dJointID);
-//ODE_API void (*dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
-//ODE_API int (*dJointGetAMotorAxisRel)(dJointID, int anum);
-//ODE_API dReal (*dJointGetAMotorAngle)(dJointID, int anum);
-//ODE_API dReal (*dJointGetAMotorAngleRate)(dJointID, int anum);
-//ODE_API dReal (*dJointGetAMotorParam)(dJointID, int parameter);
-//ODE_API int (*dJointGetAMotorMode)(dJointID);
-//ODE_API int (*dJointGetLMotorNumAxes)(dJointID);
-//ODE_API void (*dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
-//ODE_API dReal (*dJointGetLMotorParam)(dJointID, int parameter);
-//ODE_API dReal (*dJointGetFixedParam)(dJointID, int parameter);
-//ODE_API dJointID (*dConnectingJoint)(dBodyID, dBodyID);
-//ODE_API int (*dConnectingJointList)(dBodyID, dBodyID, dJointID*);
-ODE_API int (*dAreConnected)(dBodyID, dBodyID);
-ODE_API int (*dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
+dWorldID (ODE_API *dWorldCreate)(void);
+void (ODE_API *dWorldDestroy)(dWorldID world);
+void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
+//void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
+//void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
+//dReal (ODE_API *dWorldGetERP)(dWorldID);
+//void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
+//dReal (ODE_API *dWorldGetCFM)(dWorldID);
+void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
+//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
+void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
+void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
+//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
+//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
+//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
+//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
+//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
+void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
+//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
+void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
+//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
+//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
+//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
+//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
+//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
+//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
+//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
+//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
+//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
+//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
+//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
+//void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
+//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
+//void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
+//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
+//void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
+//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
+//void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
+//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
+//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
+//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
+//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
+//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
+//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
+//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
+//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
+//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
+//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
+//dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
+dBodyID (ODE_API *dBodyCreate)(dWorldID);
+void (ODE_API *dBodyDestroy)(dBodyID);
+void (ODE_API *dBodySetData)(dBodyID, void *data);
+//void * (ODE_API *dBodyGetData)(dBodyID);
+void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
+void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
+//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
+void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
+void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
+const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
+//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
+const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
+//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
+//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
+//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
+const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
+const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
+void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
+//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
+//void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//const dReal * (ODE_API *dBodyGetForce)(dBodyID);
+//const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
+//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
+//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
+//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
+//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
+//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
+//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
+//int (ODE_API *dBodyGetNumJoints)(dBodyID b);
+//dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
+//void (ODE_API *dBodySetDynamic)(dBodyID);
+//void (ODE_API *dBodySetKinematic)(dBodyID);
+//int (ODE_API *dBodyIsKinematic)(dBodyID);
+//void (ODE_API *dBodyEnable)(dBodyID);
+//void (ODE_API *dBodyDisable)(dBodyID);
+//int (ODE_API *dBodyIsEnabled)(dBodyID);
+//void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
+//int (ODE_API *dBodyGetGravityMode)(dBodyID b);
+//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
+//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
+//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
+//void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
+//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
+//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
+//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
+//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
+//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
+//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
+//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
+//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
+//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
+//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
+//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
+//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
+//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
+//dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
+//dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
+//void (ODE_API *dJointDestroy)(dJointID);
+dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
+void (ODE_API *dJointGroupDestroy)(dJointGroupID);
+void (ODE_API *dJointGroupEmpty)(dJointGroupID);
+//int (ODE_API *dJointGetNumBodies)(dJointID);
+void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
+//void (ODE_API *dJointEnable)(dJointID);
+//void (ODE_API *dJointDisable)(dJointID);
+//int (ODE_API *dJointIsEnabled)(dJointID);
+//void (ODE_API *dJointSetData)(dJointID, void *data);
+//void * (ODE_API *dJointGetData)(dJointID);
+//dJointType (ODE_API *dJointGetType)(dJointID);
+//dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
+//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
+//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
+//void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+//void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
+//void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
+//void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+//void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
+//void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
+//void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+//void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+//void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
+//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
+//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
+//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
+//void (ODE_API *dJointSetFixed)(dJointID);
+//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
+//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
+//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
+//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
+//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
+//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetHingeAngle)(dJointID);
+//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
+//dReal (ODE_API *dJointGetSliderPosition)(dJointID);
+//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
+//void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
+//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
+//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
+//void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
+//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
+//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
+//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
+//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
+//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPRPosition)(dJointID);
+//dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
+//dReal (ODE_API *dJointGetPRAngle)(dJointID);
+//dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
+//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPUPosition)(dJointID);
+//dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
+//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
+//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
+//dReal (ODE_API *dJointGetPUAngle1)(dJointID);
+//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
+//dReal (ODE_API *dJointGetPUAngle2)(dJointID);
+//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
+//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetPistonPosition)(dJointID);
+//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
+//dReal (ODE_API *dJointGetPistonAngle)(dJointID);
+//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
+//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
+//int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
+//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
+//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
+//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
+//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
+//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
+//int (ODE_API *dJointGetAMotorMode)(dJointID);
+//int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
+//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
+//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
+//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
+//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
+int (ODE_API *dAreConnected)(dBodyID, dBodyID);
+int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
//
-ODE_API dSpaceID (*dSimpleSpaceCreate)(dSpaceID space);
-ODE_API dSpaceID (*dHashSpaceCreate)(dSpaceID space);
-ODE_API dSpaceID (*dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
-ODE_API dSpaceID (*dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
-ODE_API void (*dSpaceDestroy)(dSpaceID);
-//ODE_API void (*dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
-//ODE_API void (*dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
-//ODE_API void (*dSpaceSetCleanup)(dSpaceID space, int mode);
-//ODE_API int (*dSpaceGetCleanup)(dSpaceID space);
-//ODE_API void (*dSpaceSetSublevel)(dSpaceID space, int sublevel);
-//ODE_API int (*dSpaceGetSublevel)(dSpaceID space);
-//ODE_API void (*dSpaceSetManualCleanup)(dSpaceID space, int mode);
-//ODE_API int (*dSpaceGetManualCleanup)(dSpaceID space);
-//ODE_API void (*dSpaceAdd)(dSpaceID, dGeomID);
-//ODE_API void (*dSpaceRemove)(dSpaceID, dGeomID);
-//ODE_API int (*dSpaceQuery)(dSpaceID, dGeomID);
-//ODE_API void (*dSpaceClean)(dSpaceID);
-//ODE_API int (*dSpaceGetNumGeoms)(dSpaceID);
-//ODE_API dGeomID (*dSpaceGetGeom)(dSpaceID, int i);
-//ODE_API int (*dSpaceGetClass)(dSpaceID space);
+dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
+dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
+dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
+dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
+void (ODE_API *dSpaceDestroy)(dSpaceID);
+//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
+//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
+//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
+//int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
+//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
+//int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
+//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
+//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
+//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
+//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
+//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
+//void (ODE_API *dSpaceClean)(dSpaceID);
+//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
+//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
+//int (ODE_API *dSpaceGetClass)(dSpaceID space);
//
-ODE_API void (*dGeomDestroy)(dGeomID geom);
-//ODE_API void (*dGeomSetData)(dGeomID geom, void* data);
-//ODE_API void * (*dGeomGetData)(dGeomID geom);
-ODE_API void (*dGeomSetBody)(dGeomID geom, dBodyID body);
-ODE_API dBodyID (*dGeomGetBody)(dGeomID geom);
-//ODE_API void (*dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
-ODE_API void (*dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
-//ODE_API void (*dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
-//ODE_API const dReal * (*dGeomGetPosition)(dGeomID geom);
-//ODE_API void (*dGeomCopyPosition)(dGeomID geom, dVector3 pos);
-//ODE_API const dReal * (*dGeomGetRotation)(dGeomID geom);
-//ODE_API void (*dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
-//ODE_API void (*dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
-//ODE_API void (*dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
-ODE_API int (*dGeomIsSpace)(dGeomID geom);
-//ODE_API dSpaceID (*dGeomGetSpace)(dGeomID);
-//ODE_API int (*dGeomGetClass)(dGeomID geom);
-//ODE_API void (*dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
-//ODE_API void (*dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
-//ODE_API unsigned long (*dGeomGetCategoryBits)(dGeomID);
-//ODE_API unsigned long (*dGeomGetCollideBits)(dGeomID);
-//ODE_API void (*dGeomEnable)(dGeomID geom);
-//ODE_API void (*dGeomDisable)(dGeomID geom);
-//ODE_API int (*dGeomIsEnabled)(dGeomID geom);
-//ODE_API void (*dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
-//ODE_API void (*dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
-//ODE_API void (*dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
-//ODE_API void (*dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
-//ODE_API void (*dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
-//ODE_API void (*dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
-//ODE_API void (*dGeomClearOffset)(dGeomID geom);
-//ODE_API int (*dGeomIsOffset)(dGeomID geom);
-//ODE_API const dReal * (*dGeomGetOffsetPosition)(dGeomID geom);
-//ODE_API void (*dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
-//ODE_API const dReal * (*dGeomGetOffsetRotation)(dGeomID geom);
-//ODE_API void (*dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
-//ODE_API void (*dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
-ODE_API int (*dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
+void (ODE_API *dGeomDestroy)(dGeomID geom);
+//void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
+//void * (ODE_API *dGeomGetData)(dGeomID geom);
+void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
+dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
+//void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
+//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
+//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
+//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
+//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
+//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
+//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
+//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
+int (ODE_API *dGeomIsSpace)(dGeomID geom);
+//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
+//int (ODE_API *dGeomGetClass)(dGeomID geom);
+//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
+//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
+//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
+//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
+//void (ODE_API *dGeomEnable)(dGeomID geom);
+//void (ODE_API *dGeomDisable)(dGeomID geom);
+//int (ODE_API *dGeomIsEnabled)(dGeomID geom);
+//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
+//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
+//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
+//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
+//void (ODE_API *dGeomClearOffset)(dGeomID geom);
+//int (ODE_API *dGeomIsOffset)(dGeomID geom);
+//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
+//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
+//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
+//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
+//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
+int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
//
-ODE_API void (*dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
-ODE_API void (*dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
+void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
+void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
//
-ODE_API dGeomID (*dCreateSphere)(dSpaceID space, dReal radius);
-//ODE_API void (*dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
-//ODE_API dReal (*dGeomSphereGetRadius)(dGeomID sphere);
-//ODE_API dReal (*dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
+dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
+//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
+//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
+//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
//
-//ODE_API dGeomID (*dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
-//ODE_API void (*dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
//
-ODE_API dGeomID (*dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
-//ODE_API void (*dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
-//ODE_API void (*dGeomBoxGetLengths)(dGeomID box, dVector3 result);
-//ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
-//ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
+//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
+//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
+//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
//
-//ODE_API dGeomID (*dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
-//ODE_API void (*dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
-//ODE_API void (*dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
-//ODE_API dReal (*dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
+//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
+//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
+//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
//
-ODE_API dGeomID (*dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
-//ODE_API void (*dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
-//ODE_API void (*dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
-//ODE_API dReal (*dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
+dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
+//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
+//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
+//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
//
-//ODE_API dGeomID (*dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
-//ODE_API void (*dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
-//ODE_API void (*dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
+//dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
+//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
+//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
//
-//ODE_API dGeomID (*dCreateRay)(dSpaceID space, dReal length);
-//ODE_API void (*dGeomRaySetLength)(dGeomID ray, dReal length);
-//ODE_API dReal (*dGeomRayGetLength)(dGeomID ray);
-//ODE_API void (*dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
-//ODE_API void (*dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
+//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
+//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
+//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
+//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
+//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
//
-ODE_API dGeomID (*dCreateGeomTransform)(dSpaceID space);
-ODE_API void (*dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
-//ODE_API dGeomID (*dGeomTransformGetGeom)(dGeomID g);
-ODE_API void (*dGeomTransformSetCleanup)(dGeomID g, int mode);
-//ODE_API int (*dGeomTransformGetCleanup)(dGeomID g);
-//ODE_API void (*dGeomTransformSetInfo)(dGeomID g, int mode);
-//ODE_API int (*dGeomTransformGetInfo)(dGeomID g);
+dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
+void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
+//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
+void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
+//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
+//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
+//int (ODE_API *dGeomTransformGetInfo)(dGeomID g);
enum { TRIMESH_FACE_NORMALS };
typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
-ODE_API dTriMeshDataID (*dGeomTriMeshDataCreate)(void);
-ODE_API void (*dGeomTriMeshDataDestroy)(dTriMeshDataID g);
-//ODE_API void (*dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
-//ODE_API void* (*dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
-//ODE_API void (*dGeomTriMeshSetLastTransform)( (*dGeomID g, dMatrix4 last_trans );
-//ODE_API dReal* (*dGeomTriMeshGetLastTransform)( (*dGeomID g );
-ODE_API void (*dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
-//ODE_API void (*dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
-//ODE_API void (*dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
-//ODE_API void (*dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
-//ODE_API void (*dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
-//ODE_API void (*dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
-//ODE_API void (*dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
-//ODE_API void (*dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
-//ODE_API void (*dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
-//ODE_API void (*dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
-//ODE_API dTriCallback* (*dGeomTriMeshGetCallback)(dGeomID g);
-//ODE_API void (*dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
-//ODE_API dTriArrayCallback* (*dGeomTriMeshGetArrayCallback)(dGeomID g);
-//ODE_API void (*dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
-//ODE_API dTriRayCallback* (*dGeomTriMeshGetRayCallback)(dGeomID g);
-//ODE_API void (*dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
-//ODE_API dTriTriMergeCallback* (*dGeomTriMeshGetTriMergeCallback)(dGeomID g);
-ODE_API dGeomID (*dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
-//ODE_API void (*dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
-//ODE_API dTriMeshDataID (*dGeomTriMeshGetData)(dGeomID g);
-//ODE_API void (*dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
-//ODE_API int (*dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
-//ODE_API void (*dGeomTriMeshClearTCCache)(dGeomID g);
-//ODE_API dTriMeshDataID (*dGeomTriMeshGetTriMeshDataID)(dGeomID g);
-//ODE_API void (*dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
-//ODE_API void (*dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
-//ODE_API int (*dGeomTriMeshGetTriangleCount )(dGeomID g);
-//ODE_API void (*dGeomTriMeshDataUpdate)(dTriMeshDataID g);
+dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
+void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
+//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
+//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
+//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
+//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
+void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
+//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
+//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
+//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
+//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
+//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
+//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
+//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
+//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
+//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
+dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
+//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
+//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
+//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
+//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
+//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
+//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
+//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
static dllfunction_t odefuncs[] =
{
projects / xonotic / darkplaces.git / commitdiff