source: code/branches/ode/ode-0.9/contrib/Ode.NET/Drawstuff/Drawstuff.cs @ 216

using System;
using System.Runtime.InteropServices;
using Ode.NET;

namespace Drawstuff.NET
{
#if dDOUBLE
        using dReal = System.Double;
#else
        using dReal = System.Single;
#endif

        public static class ds
        {
                public const int VERSION = 2;

                public enum Texture
                {
                        None,
                        Wood
                }

                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
                public delegate void CallbackFunction(int arg);

                [StructLayout(LayoutKind.Sequential)]
                public struct Functions
                {
                        public int version;
                        public CallbackFunction start;
                        public CallbackFunction step;
                        public CallbackFunction command;
                        public CallbackFunction stop;
                        public string path_to_textures;
                }

                [DllImport("drawstuff", EntryPoint="dsDrawBox")]
                public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);

                [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
                public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);

                [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
                public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);

                [DllImport("drawstuff", EntryPoint="dsSetColor")]
                public static extern void SetColor(float red, float green, float blue);

                [DllImport("drawstuff", EntryPoint="dsSetTexture")]
                public static extern void SetTexture(Texture texture);

                [DllImport("drawstuff", EntryPoint="dsSetViewpoint")]
                public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);

                [DllImport("drawstuff", EntryPoint="dsSimulationLoop")]
                public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
        }
}