| 1 | Ode.NET - .NET bindings for ODE |
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| 2 | Jason Perkins (starkos@gmail.com) |
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| 3 | |
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| 4 | THIS IS A WORK IN PROGRESS! I'm not done yet! |
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| 5 | |
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| 6 | |
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| 7 | --------------------------------------------------------------------- |
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| 8 | INSTALLATION |
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| 9 | --------------------------------------------------------------------- |
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| 10 | |
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| 11 | Note that this binding uses a C# 2.0 feature (the |
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| 12 | UnmanagedFunctionPointer attribute). You will need to use |
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| 13 | Visual Studio 2005 (C# Express is fine) or Mono's gmcs |
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| 14 | compiler. |
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| 15 | |
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| 16 | Start by getting or building ODE as a shared library (DLL). |
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| 17 | |
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| 18 | The simplest way to build the bindings is probably to create a |
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| 19 | new library assembly in your tool of choice and drop in the files |
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| 20 | Ode/Ode.cs and Ode/AssemblyInfo.cs. Define the symbol`dDOUBLE` if |
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| 21 | you used double-precision math in your ode.dll. Build, done. |
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| 22 | |
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| 23 | For testing purposes, I have also created bindings for the |
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| 24 | Drawstuff library and a C# version of the BoxStack demo. You can |
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| 25 | throw all of these files into a console executable and run it to |
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| 26 | see the demo. |
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| 27 | |
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| 28 | If you happen to have Premake installed (http://premake.sf.net/), |
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| 29 | you can generate build scripts for the library with: |
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| 30 | |
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| 31 | premake --target (toolset) # for single precision |
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| 32 | premake --with-doubles --target (toolset) # for double precision |
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| 33 | |
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| 34 | To build the test application too, use: |
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| 35 | |
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| 36 | premake --with-tests --target (toolset) |
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| 37 | |
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| 38 | To build with Mono, you must add the --dotnet parameter to enable |
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| 39 | support .NET 2.0: |
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| 40 | |
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| 41 | premake --dotnet mono2 --target gnu |
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| 42 | |
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| 43 | |
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| 44 | --------------------------------------------------------------------- |
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| 45 | USAGE |
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| 46 | --------------------------------------------------------------------- |
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| 47 | |
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| 48 | I have tried to keep things as close to the original C API as I can, |
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| 49 | rather than forcing a class structure on everyone. Everything is |
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| 50 | contained within the `Ode.NET` namespace inside a static class |
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| 51 | named `d`. All ODE IDs are replaced with IntPtrs. A quick example: |
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| 52 | |
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| 53 | using Ode.NET; |
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| 54 | |
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| 55 | IntPtr world = d.WorldCreate(); |
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| 56 | IntPtr body = d.BodyCreate(world); |
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| 57 | |
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| 58 | Take a look at Tests/BoxStack.cs for a more complete example. |
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| 59 | |
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| 60 | |
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| 61 | --------------------------------------------------------------------- |
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| 62 | KNOWN ISSUES |
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| 63 | --------------------------------------------------------------------- |
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| 64 | |
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| 65 | I'm not done yet, so many functions are still missing. |
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| 66 | |
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| 67 | It is not possible to implement dBodyGetPosition(), dBodyGetRotation(), |
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| 68 | etc. without resorting to unsafe code, which I was trying to avoid. |
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| 69 | This binding uses the .NET friendly dBodyCopyPosition(), |
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| 70 | dBodyCopyRotation(), etc. instead. |
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| 71 | |
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| 72 | Collision response (contact joints) do not work when built under |
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| 73 | Mono as double-precision. I have not tried to track down why. |
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