--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/R/rdyncall/inst/dynports/ode.R	Thu Mar 19 22:26:28 2015 +0100
@@ -0,0 +1,682 @@
+
+
+dynbind("ode", "
+dAlloc(J)*v;
+dAllocateODEDataForThread(I)i;
+dAreConnected(*<dxBody>*<dxBody>)i;
+dAreConnectedExcluding(*<dxBody>*<dxBody>i)i;
+dBodyAddForce(*<dxBody>fff)v;
+dBodyAddForceAtPos(*<dxBody>ffffff)v;
+dBodyAddForceAtRelPos(*<dxBody>ffffff)v;
+dBodyAddRelForce(*<dxBody>fff)v;
+dBodyAddRelForceAtPos(*<dxBody>ffffff)v;
+dBodyAddRelForceAtRelPos(*<dxBody>ffffff)v;
+dBodyAddRelTorque(*<dxBody>fff)v;
+dBodyAddTorque(*<dxBody>fff)v;
+dBodyCopyPosition(*<dxBody>*f)v;
+dBodyCopyQuaternion(*<dxBody>*f)v;
+dBodyCopyRotation(*<dxBody>*f)v;
+dBodyCreate(*<dxWorld>)*<dxBody>;
+dBodyDestroy(*<dxBody>)v;
+dBodyDisable(*<dxBody>)v;
+dBodyEnable(*<dxBody>)v;
+dBodyGetAngularDamping(*<dxBody>)f;
+dBodyGetAngularDampingThreshold(*<dxBody>)f;
+dBodyGetAngularVel(*<dxBody>)*f;
+dBodyGetAutoDisableAngularThreshold(*<dxBody>)f;
+dBodyGetAutoDisableAverageSamplesCount(*<dxBody>)i;
+dBodyGetAutoDisableFlag(*<dxBody>)i;
+dBodyGetAutoDisableLinearThreshold(*<dxBody>)f;
+dBodyGetAutoDisableSteps(*<dxBody>)i;
+dBodyGetAutoDisableTime(*<dxBody>)f;
+dBodyGetData(*<dxBody>)*v;
+dBodyGetFiniteRotationAxis(*<dxBody>*f)v;
+dBodyGetFiniteRotationMode(*<dxBody>)i;
+dBodyGetFirstGeom(*<dxBody>)*<dxGeom>;
+dBodyGetForce(*<dxBody>)*f;
+dBodyGetGravityMode(*<dxBody>)i;
+dBodyGetGyroscopicMode(*<dxBody>)i;
+dBodyGetJoint(*<dxBody>i)*<dxJoint>;
+dBodyGetLinearDamping(*<dxBody>)f;
+dBodyGetLinearDampingThreshold(*<dxBody>)f;
+dBodyGetLinearVel(*<dxBody>)*f;
+dBodyGetMass(*<dxBody>*<dMass>)v;
+dBodyGetMaxAngularSpeed(*<dxBody>)f;
+dBodyGetNextGeom(*<dxGeom>)*<dxGeom>;
+dBodyGetNumJoints(*<dxBody>)i;
+dBodyGetPointVel(*<dxBody>fff*f)v;
+dBodyGetPosRelPoint(*<dxBody>fff*f)v;
+dBodyGetPosition(*<dxBody>)*f;
+dBodyGetQuaternion(*<dxBody>)*f;
+dBodyGetRelPointPos(*<dxBody>fff*f)v;
+dBodyGetRelPointVel(*<dxBody>fff*f)v;
+dBodyGetRotation(*<dxBody>)*f;
+dBodyGetTorque(*<dxBody>)*f;
+dBodyGetWorld(*<dxBody>)*<dxWorld>;
+dBodyIsEnabled(*<dxBody>)i;
+dBodyIsKinematic(*<dxBody>)i;
+dBodySetAngularDamping(*<dxBody>f)v;
+dBodySetAngularDampingThreshold(*<dxBody>f)v;
+dBodySetAngularVel(*<dxBody>fff)v;
+dBodySetAutoDisableAngularThreshold(*<dxBody>f)v;
+dBodySetAutoDisableAverageSamplesCount(*<dxBody>I)v;
+dBodySetAutoDisableDefaults(*<dxBody>)v;
+dBodySetAutoDisableFlag(*<dxBody>i)v;
+dBodySetAutoDisableLinearThreshold(*<dxBody>f)v;
+dBodySetAutoDisableSteps(*<dxBody>i)v;
+dBodySetAutoDisableTime(*<dxBody>f)v;
+dBodySetDamping(*<dxBody>ff)v;
+dBodySetDampingDefaults(*<dxBody>)v;
+dBodySetData(*<dxBody>*v)v;
+dBodySetDynamic(*<dxBody>)v;
+dBodySetFiniteRotationAxis(*<dxBody>fff)v;
+dBodySetFiniteRotationMode(*<dxBody>i)v;
+dBodySetForce(*<dxBody>fff)v;
+dBodySetGravityMode(*<dxBody>i)v;
+dBodySetGyroscopicMode(*<dxBody>i)v;
+dBodySetKinematic(*<dxBody>)v;
+dBodySetLinearDamping(*<dxBody>f)v;
+dBodySetLinearDampingThreshold(*<dxBody>f)v;
+dBodySetLinearVel(*<dxBody>fff)v;
+dBodySetMass(*<dxBody>*<dMass>)v;
+dBodySetMaxAngularSpeed(*<dxBody>f)v;
+dBodySetMovedCallback(*<dxBody>*p)v;
+dBodySetPosition(*<dxBody>fff)v;
+dBodySetQuaternion(*<dxBody>*f)v;
+dBodySetRotation(*<dxBody>*f)v;
+dBodySetTorque(*<dxBody>fff)v;
+dBodyVectorFromWorld(*<dxBody>fff*f)v;
+dBodyVectorToWorld(*<dxBody>fff*f)v;
+dBoxBox(*f*f*f*f*f*f*f*f*ii*<dContactGeom>i)i;
+dBoxTouchesBox(*f*f*f*f*f*f)i;
+dCheckConfiguration(*c)i;
+dCleanupODEAllDataForThread()v;
+dClearUpperTriangle(*fi)v;
+dCloseODE()v;
+dClosestLineSegmentPoints(*f*f*f*f*f*f)v;
+dCollide(*<dxGeom>*<dxGeom>i*<dContactGeom>i)i;
+dConnectingJoint(*<dxBody>*<dxBody>)*<dxJoint>;
+dConnectingJointList(*<dxBody>*<dxBody>*)i;
+dCreateBox(*<dxSpace>fff)*<dxGeom>;
+dCreateCapsule(*<dxSpace>ff)*<dxGeom>;
+dCreateConvex(*<dxSpace>*fI*fI*I)*<dxGeom>;
+dCreateCylinder(*<dxSpace>ff)*<dxGeom>;
+dCreateGeom(i)*<dxGeom>;
+dCreateGeomClass(*<dGeomClass>)i;
+dCreateGeomTransform(*<dxSpace>)*<dxGeom>;
+dCreateHeightfield(*<dxSpace>*<dxHeightfieldData>i)*<dxGeom>;
+dCreatePlane(*<dxSpace>ffff)*<dxGeom>;
+dCreateRay(*<dxSpace>f)*<dxGeom>;
+dCreateSphere(*<dxSpace>f)*<dxGeom>;
+dCreateTriMesh(*<dxSpace>*<dxTriMeshData>*p*p*p)*<dxGeom>;
+dDQfromW(*f*f*f)v;
+dDebug(i*c)v;
+dDot(*f*fi)f;
+dError(i*c)v;
+dFactorCholesky(*fi)i;
+dFactorLDLT(*f*fii)v;
+dFree(*vJ)v;
+dGeomBoxGetLengths(*<dxGeom>*f)v;
+dGeomBoxPointDepth(*<dxGeom>fff)f;
+dGeomBoxSetLengths(*<dxGeom>fff)v;
+dGeomCapsuleGetParams(*<dxGeom>*f*f)v;
+dGeomCapsulePointDepth(*<dxGeom>fff)f;
+dGeomCapsuleSetParams(*<dxGeom>ff)v;
+dGeomClearOffset(*<dxGeom>)v;
+dGeomCopyOffsetPosition(*<dxGeom>*f)v;
+dGeomCopyOffsetRotation(*<dxGeom>*f)v;
+dGeomCopyPosition(*<dxGeom>*f)v;
+dGeomCopyRotation(*<dxGeom>*f)v;
+dGeomCylinderGetParams(*<dxGeom>*f*f)v;
+dGeomCylinderSetParams(*<dxGeom>ff)v;
+dGeomDestroy(*<dxGeom>)v;
+dGeomDisable(*<dxGeom>)v;
+dGeomEnable(*<dxGeom>)v;
+dGeomGetAABB(*<dxGeom>*f)v;
+dGeomGetBody(*<dxGeom>)*<dxBody>;
+dGeomGetBodyNext(*<dxGeom>)*<dxGeom>;
+dGeomGetCategoryBits(*<dxGeom>)J;
+dGeomGetClass(*<dxGeom>)i;
+dGeomGetClassData(*<dxGeom>)*v;
+dGeomGetCollideBits(*<dxGeom>)J;
+dGeomGetData(*<dxGeom>)*v;
+dGeomGetOffsetPosition(*<dxGeom>)*f;
+dGeomGetOffsetQuaternion(*<dxGeom>*f)v;
+dGeomGetOffsetRotation(*<dxGeom>)*f;
+dGeomGetPosition(*<dxGeom>)*f;
+dGeomGetQuaternion(*<dxGeom>*f)v;
+dGeomGetRotation(*<dxGeom>)*f;
+dGeomGetSpace(*<dxGeom>)*<dxSpace>;
+dGeomHeightfieldDataBuildByte(*<dxHeightfieldData>*Ciffiifffi)v;
+dGeomHeightfieldDataBuildCallback(*<dxHeightfieldData>*v*pffiifffi)v;
+dGeomHeightfieldDataBuildDouble(*<dxHeightfieldData>*diffiifffi)v;
+dGeomHeightfieldDataBuildShort(*<dxHeightfieldData>*siffiifffi)v;
+dGeomHeightfieldDataBuildSingle(*<dxHeightfieldData>*fiffiifffi)v;
+dGeomHeightfieldDataCreate()*<dxHeightfieldData>;
+dGeomHeightfieldDataDestroy(*<dxHeightfieldData>)v;
+dGeomHeightfieldDataSetBounds(*<dxHeightfieldData>ff)v;
+dGeomHeightfieldGetHeightfieldData(*<dxGeom>)*<dxHeightfieldData>;
+dGeomHeightfieldSetHeightfieldData(*<dxGeom>*<dxHeightfieldData>)v;
+dGeomIsEnabled(*<dxGeom>)i;
+dGeomIsOffset(*<dxGeom>)i;
+dGeomIsSpace(*<dxGeom>)i;
+dGeomMoved(*<dxGeom>)v;
+dGeomPlaneGetParams(*<dxGeom>*f)v;
+dGeomPlanePointDepth(*<dxGeom>fff)f;
+dGeomPlaneSetParams(*<dxGeom>ffff)v;
+dGeomRayGet(*<dxGeom>*f*f)v;
+dGeomRayGetClosestHit(*<dxGeom>)i;
+dGeomRayGetLength(*<dxGeom>)f;
+dGeomRayGetParams(*<dxGeom>*i*i)v;
+dGeomRaySet(*<dxGeom>ffffff)v;
+dGeomRaySetClosestHit(*<dxGeom>i)v;
+dGeomRaySetLength(*<dxGeom>f)v;
+dGeomRaySetParams(*<dxGeom>ii)v;
+dGeomSetBody(*<dxGeom>*<dxBody>)v;
+dGeomSetCategoryBits(*<dxGeom>J)v;
+dGeomSetCollideBits(*<dxGeom>J)v;
+dGeomSetConvex(*<dxGeom>*fI*fI*I)v;
+dGeomSetData(*<dxGeom>*v)v;
+dGeomSetOffsetPosition(*<dxGeom>fff)v;
+dGeomSetOffsetQuaternion(*<dxGeom>*f)v;
+dGeomSetOffsetRotation(*<dxGeom>*f)v;
+dGeomSetOffsetWorldPosition(*<dxGeom>fff)v;
+dGeomSetOffsetWorldQuaternion(*<dxGeom>*f)v;
+dGeomSetOffsetWorldRotation(*<dxGeom>*f)v;
+dGeomSetPosition(*<dxGeom>fff)v;
+dGeomSetQuaternion(*<dxGeom>*f)v;
+dGeomSetRotation(*<dxGeom>*f)v;
+dGeomSphereGetRadius(*<dxGeom>)f;
+dGeomSpherePointDepth(*<dxGeom>fff)f;
+dGeomSphereSetRadius(*<dxGeom>f)v;
+dGeomTransformGetCleanup(*<dxGeom>)i;
+dGeomTransformGetGeom(*<dxGeom>)*<dxGeom>;
+dGeomTransformGetInfo(*<dxGeom>)i;
+dGeomTransformSetCleanup(*<dxGeom>i)v;
+dGeomTransformSetGeom(*<dxGeom>*<dxGeom>)v;
+dGeomTransformSetInfo(*<dxGeom>i)v;
+dGeomTriMeshClearTCCache(*<dxGeom>)v;
+dGeomTriMeshDataBuildDouble(*<dxTriMeshData>*vii*vii)v;
+dGeomTriMeshDataBuildDouble1(*<dxTriMeshData>*vii*vii*v)v;
+dGeomTriMeshDataBuildSimple(*<dxTriMeshData>*fi*Ii)v;
+dGeomTriMeshDataBuildSimple1(*<dxTriMeshData>*fi*Ii*i)v;
+dGeomTriMeshDataBuildSingle(*<dxTriMeshData>*vii*vii)v;
+dGeomTriMeshDataBuildSingle1(*<dxTriMeshData>*vii*vii*v)v;
+dGeomTriMeshDataCreate()*<dxTriMeshData>;
+dGeomTriMeshDataDestroy(*<dxTriMeshData>)v;
+dGeomTriMeshDataGet(*<dxTriMeshData>i)*v;
+dGeomTriMeshDataGetBuffer(*<dxTriMeshData>**i)v;
+dGeomTriMeshDataPreprocess(*<dxTriMeshData>)v;
+dGeomTriMeshDataSet(*<dxTriMeshData>i*v)v;
+dGeomTriMeshDataSetBuffer(*<dxTriMeshData>*C)v;
+dGeomTriMeshDataUpdate(*<dxTriMeshData>)v;
+dGeomTriMeshEnableTC(*<dxGeom>ii)v;
+dGeomTriMeshGetArrayCallback(*<dxGeom>)*p;
+dGeomTriMeshGetCallback(*<dxGeom>)*p;
+dGeomTriMeshGetData(*<dxGeom>)*<dxTriMeshData>;
+dGeomTriMeshGetLastTransform(*<dxGeom>)*f;
+dGeomTriMeshGetPoint(*<dxGeom>iff*f)v;
+dGeomTriMeshGetRayCallback(*<dxGeom>)*p;
+dGeomTriMeshGetTriMergeCallback(*<dxGeom>)*p;
+dGeomTriMeshGetTriMeshDataID(*<dxGeom>)*<dxTriMeshData>;
+dGeomTriMeshGetTriangle(*<dxGeom>i***)v;
+dGeomTriMeshGetTriangleCount(*<dxGeom>)i;
+dGeomTriMeshIsTCEnabled(*<dxGeom>i)i;
+dGeomTriMeshSetArrayCallback(*<dxGeom>*p)v;
+dGeomTriMeshSetCallback(*<dxGeom>*p)v;
+dGeomTriMeshSetData(*<dxGeom>*<dxTriMeshData>)v;
+dGeomTriMeshSetLastTransform(*<dxGeom>*f)v;
+dGeomTriMeshSetRayCallback(*<dxGeom>*p)v;
+dGeomTriMeshSetTriMergeCallback(*<dxGeom>*p)v;
+dGetAllocHandler()*p;
+dGetConfiguration()*c;
+dGetDebugHandler()*p;
+dGetErrorHandler()*p;
+dGetFreeHandler()*p;
+dGetMessageHandler()*p;
+dGetReallocHandler()*p;
+dHashSpaceCreate(*<dxSpace>)*<dxSpace>;
+dHashSpaceGetLevels(*<dxSpace>*i*i)v;
+dHashSpaceSetLevels(*<dxSpace>ii)v;
+dInfiniteAABB(*<dxGeom>*f)v;
+dInitODE()v;
+dInitODE2(I)i;
+dInvertPDMatrix(*f*fi)i;
+dIsPositiveDefinite(*fi)i;
+dJointAddAMotorTorques(*<dxJoint>fff)v;
+dJointAddHinge2Torques(*<dxJoint>ff)v;
+dJointAddHingeTorque(*<dxJoint>f)v;
+dJointAddPRTorque(*<dxJoint>f)v;
+dJointAddPUTorque(*<dxJoint>f)v;
+dJointAddPistonForce(*<dxJoint>f)v;
+dJointAddSliderForce(*<dxJoint>f)v;
+dJointAddUniversalTorques(*<dxJoint>ff)v;
+dJointAttach(*<dxJoint>*<dxBody>*<dxBody>)v;
+dJointCreateAMotor(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreateBall(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreateContact(*<dxWorld>*<dxJointGroup>*<dContact>)*<dxJoint>;
+dJointCreateFixed(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreateHinge(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreateHinge2(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreateLMotor(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreateNull(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreatePR(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreatePU(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreatePiston(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreatePlane2D(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreateSlider(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointCreateUniversal(*<dxWorld>*<dxJointGroup>)*<dxJoint>;
+dJointDestroy(*<dxJoint>)v;
+dJointDisable(*<dxJoint>)v;
+dJointEnable(*<dxJoint>)v;
+dJointGetAMotorAngle(*<dxJoint>i)f;
+dJointGetAMotorAngleRate(*<dxJoint>i)f;
+dJointGetAMotorAxis(*<dxJoint>i*f)v;
+dJointGetAMotorAxisRel(*<dxJoint>i)i;
+dJointGetAMotorMode(*<dxJoint>)i;
+dJointGetAMotorNumAxes(*<dxJoint>)i;
+dJointGetAMotorParam(*<dxJoint>i)f;
+dJointGetBallAnchor(*<dxJoint>*f)v;
+dJointGetBallAnchor2(*<dxJoint>*f)v;
+dJointGetBallParam(*<dxJoint>i)f;
+dJointGetBody(*<dxJoint>i)*<dxBody>;
+dJointGetData(*<dxJoint>)*v;
+dJointGetFeedback(*<dxJoint>)*<dJointFeedback>;
+dJointGetFixedParam(*<dxJoint>i)f;
+dJointGetHinge2Anchor(*<dxJoint>*f)v;
+dJointGetHinge2Anchor2(*<dxJoint>*f)v;
+dJointGetHinge2Angle1(*<dxJoint>)f;
+dJointGetHinge2Angle1Rate(*<dxJoint>)f;
+dJointGetHinge2Angle2Rate(*<dxJoint>)f;
+dJointGetHinge2Axis1(*<dxJoint>*f)v;
+dJointGetHinge2Axis2(*<dxJoint>*f)v;
+dJointGetHinge2Param(*<dxJoint>i)f;
+dJointGetHingeAnchor(*<dxJoint>*f)v;
+dJointGetHingeAnchor2(*<dxJoint>*f)v;
+dJointGetHingeAngle(*<dxJoint>)f;
+dJointGetHingeAngleRate(*<dxJoint>)f;
+dJointGetHingeAxis(*<dxJoint>*f)v;
+dJointGetHingeParam(*<dxJoint>i)f;
+dJointGetLMotorAxis(*<dxJoint>i*f)v;
+dJointGetLMotorNumAxes(*<dxJoint>)i;
+dJointGetLMotorParam(*<dxJoint>i)f;
+dJointGetNumBodies(*<dxJoint>)i;
+dJointGetPRAnchor(*<dxJoint>*f)v;
+dJointGetPRAngle(*<dxJoint>)f;
+dJointGetPRAngleRate(*<dxJoint>)f;
+dJointGetPRAxis1(*<dxJoint>*f)v;
+dJointGetPRAxis2(*<dxJoint>*f)v;
+dJointGetPRParam(*<dxJoint>i)f;
+dJointGetPRPosition(*<dxJoint>)f;
+dJointGetPRPositionRate(*<dxJoint>)f;
+dJointGetPUAnchor(*<dxJoint>*f)v;
+dJointGetPUAngle1(*<dxJoint>)f;
+dJointGetPUAngle1Rate(*<dxJoint>)f;
+dJointGetPUAngle2(*<dxJoint>)f;
+dJointGetPUAngle2Rate(*<dxJoint>)f;
+dJointGetPUAngles(*<dxJoint>*f*f)v;
+dJointGetPUAxis1(*<dxJoint>*f)v;
+dJointGetPUAxis2(*<dxJoint>*f)v;
+dJointGetPUAxis3(*<dxJoint>*f)v;
+dJointGetPUAxisP(*<dxJoint>*f)v;
+dJointGetPUParam(*<dxJoint>i)f;
+dJointGetPUPosition(*<dxJoint>)f;
+dJointGetPUPositionRate(*<dxJoint>)f;
+dJointGetPistonAnchor(*<dxJoint>*f)v;
+dJointGetPistonAnchor2(*<dxJoint>*f)v;
+dJointGetPistonAngle(*<dxJoint>)f;
+dJointGetPistonAngleRate(*<dxJoint>)f;
+dJointGetPistonAxis(*<dxJoint>*f)v;
+dJointGetPistonParam(*<dxJoint>i)f;
+dJointGetPistonPosition(*<dxJoint>)f;
+dJointGetPistonPositionRate(*<dxJoint>)f;
+dJointGetSliderAxis(*<dxJoint>*f)v;
+dJointGetSliderParam(*<dxJoint>i)f;
+dJointGetSliderPosition(*<dxJoint>)f;
+dJointGetSliderPositionRate(*<dxJoint>)f;
+dJointGetType(*<dxJoint>)i;
+dJointGetUniversalAnchor(*<dxJoint>*f)v;
+dJointGetUniversalAnchor2(*<dxJoint>*f)v;
+dJointGetUniversalAngle1(*<dxJoint>)f;
+dJointGetUniversalAngle1Rate(*<dxJoint>)f;
+dJointGetUniversalAngle2(*<dxJoint>)f;
+dJointGetUniversalAngle2Rate(*<dxJoint>)f;
+dJointGetUniversalAngles(*<dxJoint>*f*f)v;
+dJointGetUniversalAxis1(*<dxJoint>*f)v;
+dJointGetUniversalAxis2(*<dxJoint>*f)v;
+dJointGetUniversalParam(*<dxJoint>i)f;
+dJointGroupCreate(i)*<dxJointGroup>;
+dJointGroupDestroy(*<dxJointGroup>)v;
+dJointGroupEmpty(*<dxJointGroup>)v;
+dJointIsEnabled(*<dxJoint>)i;
+dJointSetAMotorAngle(*<dxJoint>if)v;
+dJointSetAMotorAxis(*<dxJoint>iifff)v;
+dJointSetAMotorMode(*<dxJoint>i)v;
+dJointSetAMotorNumAxes(*<dxJoint>i)v;
+dJointSetAMotorParam(*<dxJoint>if)v;
+dJointSetBallAnchor(*<dxJoint>fff)v;
+dJointSetBallAnchor2(*<dxJoint>fff)v;
+dJointSetBallParam(*<dxJoint>if)v;
+dJointSetData(*<dxJoint>*v)v;
+dJointSetFeedback(*<dxJoint>*<dJointFeedback>)v;
+dJointSetFixed(*<dxJoint>)v;
+dJointSetFixedParam(*<dxJoint>if)v;
+dJointSetHinge2Anchor(*<dxJoint>fff)v;
+dJointSetHinge2Axis1(*<dxJoint>fff)v;
+dJointSetHinge2Axis2(*<dxJoint>fff)v;
+dJointSetHinge2Param(*<dxJoint>if)v;
+dJointSetHingeAnchor(*<dxJoint>fff)v;
+dJointSetHingeAnchorDelta(*<dxJoint>ffffff)v;
+dJointSetHingeAxis(*<dxJoint>fff)v;
+dJointSetHingeAxisOffset(*<dxJoint>ffff)v;
+dJointSetHingeParam(*<dxJoint>if)v;
+dJointSetLMotorAxis(*<dxJoint>iifff)v;
+dJointSetLMotorNumAxes(*<dxJoint>i)v;
+dJointSetLMotorParam(*<dxJoint>if)v;
+dJointSetPRAnchor(*<dxJoint>fff)v;
+dJointSetPRAxis1(*<dxJoint>fff)v;
+dJointSetPRAxis2(*<dxJoint>fff)v;
+dJointSetPRParam(*<dxJoint>if)v;
+dJointSetPUAnchor(*<dxJoint>fff)v;
+dJointSetPUAnchorDelta(*<dxJoint>ffffff)v;
+dJointSetPUAnchorOffset(*<dxJoint>ffffff)v;
+dJointSetPUAxis1(*<dxJoint>fff)v;
+dJointSetPUAxis2(*<dxJoint>fff)v;
+dJointSetPUAxis3(*<dxJoint>fff)v;
+dJointSetPUAxisP(*<dxJoint>fff)v;
+dJointSetPUParam(*<dxJoint>if)v;
+dJointSetPistonAnchor(*<dxJoint>fff)v;
+dJointSetPistonAnchorOffset(*<dxJoint>ffffff)v;
+dJointSetPistonAxis(*<dxJoint>fff)v;
+dJointSetPistonAxisDelta(*<dxJoint>ffffff)v;
+dJointSetPistonParam(*<dxJoint>if)v;
+dJointSetPlane2DAngleParam(*<dxJoint>if)v;
+dJointSetPlane2DXParam(*<dxJoint>if)v;
+dJointSetPlane2DYParam(*<dxJoint>if)v;
+dJointSetSliderAxis(*<dxJoint>fff)v;
+dJointSetSliderAxisDelta(*<dxJoint>ffffff)v;
+dJointSetSliderParam(*<dxJoint>if)v;
+dJointSetUniversalAnchor(*<dxJoint>fff)v;
+dJointSetUniversalAxis1(*<dxJoint>fff)v;
+dJointSetUniversalAxis1Offset(*<dxJoint>fffff)v;
+dJointSetUniversalAxis2(*<dxJoint>fff)v;
+dJointSetUniversalAxis2Offset(*<dxJoint>fffff)v;
+dJointSetUniversalParam(*<dxJoint>if)v;
+dLDLTAddTL(*f*f*fii)v;
+dLDLTRemove(**i*f*fiiii)v;
+dMakeRandomMatrix(*fiif)v;
+dMakeRandomVector(*fif)v;
+dMassAdd(*<dMass>*<dMass>)v;
+dMassAdjust(*<dMass>f)v;
+dMassCheck(*<dMass>)i;
+dMassRotate(*<dMass>*f)v;
+dMassSetBox(*<dMass>ffff)v;
+dMassSetBoxTotal(*<dMass>ffff)v;
+dMassSetCappedCylinder(*<dMass>fiff)v;
+dMassSetCappedCylinderTotal(*<dMass>fiff)v;
+dMassSetCapsule(*<dMass>fiff)v;
+dMassSetCapsuleTotal(*<dMass>fiff)v;
+dMassSetCylinder(*<dMass>fiff)v;
+dMassSetCylinderTotal(*<dMass>fiff)v;
+dMassSetParameters(*<dMass>ffffffffff)v;
+dMassSetSphere(*<dMass>ff)v;
+dMassSetSphereTotal(*<dMass>ff)v;
+dMassSetTrimesh(*<dMass>f*<dxGeom>)v;
+dMassSetTrimeshTotal(*<dMass>f*<dxGeom>)v;
+dMassSetZero(*<dMass>)v;
+dMassTranslate(*<dMass>fff)v;
+dMaxDifference(*f*fii)f;
+dMaxDifferenceLowerTriangle(*f*fi)f;
+dMessage(i*c)v;
+dMultiply0(*f*f*fiii)v;
+dMultiply1(*f*f*fiii)v;
+dMultiply2(*f*f*fiii)v;
+dNormalize3(*f)v;
+dNormalize4(*f)v;
+dOrthogonalizeR(*f)v;
+dPlaneSpace(*f*f*f)v;
+dPrintMatrix(*fii*c*<__sFILE>)v;
+dQFromAxisAndAngle(*fffff)v;
+dQMultiply0(*f*f*f)v;
+dQMultiply1(*f*f*f)v;
+dQMultiply2(*f*f*f)v;
+dQMultiply3(*f*f*f)v;
+dQSetIdentity(*f)v;
+dQfromR(*f*f)v;
+dQuadTreeSpaceCreate(*<dxSpace>*f*fi)*<dxSpace>;
+dRFrom2Axes(*fffffff)v;
+dRFromAxisAndAngle(*fffff)v;
+dRFromEulerAngles(*ffff)v;
+dRFromZAxis(*ffff)v;
+dRSetIdentity(*f)v;
+dRand()J;
+dRandGetSeed()J;
+dRandInt(i)i;
+dRandReal()f;
+dRandSetSeed(J)v;
+dRealloc(*vJJ)*v;
+dRemoveRowCol(*fiii)v;
+dRfromQ(*f*f)v;
+dSafeNormalize3(*f)i;
+dSafeNormalize4(*f)i;
+dSetAllocHandler(*p)v;
+dSetColliderOverride(ii*p)v;
+dSetDebugHandler(*p)v;
+dSetErrorHandler(*p)v;
+dSetFreeHandler(*p)v;
+dSetMessageHandler(*p)v;
+dSetReallocHandler(*p)v;
+dSetValue(*fif)v;
+dSetZero(*fi)v;
+dSimpleSpaceCreate(*<dxSpace>)*<dxSpace>;
+dSolveCholesky(*f*fi)v;
+dSolveL1(*f*fii)v;
+dSolveL1T(*f*fii)v;
+dSolveLDLT(*f*f*fii)v;
+dSpaceAdd(*<dxSpace>*<dxGeom>)v;
+dSpaceClean(*<dxSpace>)v;
+dSpaceCollide(*<dxSpace>*v*p)v;
+dSpaceCollide2(*<dxGeom>*<dxGeom>*v*p)v;
+dSpaceDestroy(*<dxSpace>)v;
+dSpaceGetClass(*<dxSpace>)i;
+dSpaceGetCleanup(*<dxSpace>)i;
+dSpaceGetGeom(*<dxSpace>i)*<dxGeom>;
+dSpaceGetManualCleanup(*<dxSpace>)i;
+dSpaceGetNumGeoms(*<dxSpace>)i;
+dSpaceGetSublevel(*<dxSpace>)i;
+dSpaceQuery(*<dxSpace>*<dxGeom>)i;
+dSpaceRemove(*<dxSpace>*<dxGeom>)v;
+dSpaceSetCleanup(*<dxSpace>i)v;
+dSpaceSetManualCleanup(*<dxSpace>i)v;
+dSpaceSetSublevel(*<dxSpace>i)v;
+dStopwatchReset(*<dStopwatch>)v;
+dStopwatchStart(*<dStopwatch>)v;
+dStopwatchStop(*<dStopwatch>)v;
+dStopwatchTime(*<dStopwatch>)d;
+dSweepAndPruneSpaceCreate(*<dxSpace>i)*<dxSpace>;
+dTestRand()i;
+dTimerEnd()v;
+dTimerNow(*c)v;
+dTimerReport(*<__sFILE>i)v;
+dTimerResolution()d;
+dTimerStart(*c)v;
+dTimerTicksPerSecond()d;
+dVectorScale(*f*fi)v;
+dWorldCreate()*<dxWorld>;
+dWorldDestroy(*<dxWorld>)v;
+dWorldExportDIF(*<dxWorld>*<__sFILE>*c)v;
+dWorldGetAngularDamping(*<dxWorld>)f;
+dWorldGetAngularDampingThreshold(*<dxWorld>)f;
+dWorldGetAutoDisableAngularAverageThreshold(*<dxWorld>)f;
+dWorldGetAutoDisableAngularThreshold(*<dxWorld>)f;
+dWorldGetAutoDisableAverageSamplesCount(*<dxWorld>)i;
+dWorldGetAutoDisableFlag(*<dxWorld>)i;
+dWorldGetAutoDisableLinearAverageThreshold(*<dxWorld>)f;
+dWorldGetAutoDisableLinearThreshold(*<dxWorld>)f;
+dWorldGetAutoDisableSteps(*<dxWorld>)i;
+dWorldGetAutoDisableTime(*<dxWorld>)f;
+dWorldGetAutoEnableDepthSF1(*<dxWorld>)i;
+dWorldGetCFM(*<dxWorld>)f;
+dWorldGetContactMaxCorrectingVel(*<dxWorld>)f;
+dWorldGetContactSurfaceLayer(*<dxWorld>)f;
+dWorldGetERP(*<dxWorld>)f;
+dWorldGetGravity(*<dxWorld>*f)v;
+dWorldGetLinearDamping(*<dxWorld>)f;
+dWorldGetLinearDampingThreshold(*<dxWorld>)f;
+dWorldGetMaxAngularSpeed(*<dxWorld>)f;
+dWorldGetQuickStepNumIterations(*<dxWorld>)i;
+dWorldGetQuickStepW(*<dxWorld>)f;
+dWorldImpulseToForce(*<dxWorld>ffff*f)v;
+dWorldQuickStep(*<dxWorld>f)v;
+dWorldSetAngularDamping(*<dxWorld>f)v;
+dWorldSetAngularDampingThreshold(*<dxWorld>f)v;
+dWorldSetAutoDisableAngularAverageThreshold(*<dxWorld>f)v;
+dWorldSetAutoDisableAngularThreshold(*<dxWorld>f)v;
+dWorldSetAutoDisableAverageSamplesCount(*<dxWorld>I)v;
+dWorldSetAutoDisableFlag(*<dxWorld>i)v;
+dWorldSetAutoDisableLinearAverageThreshold(*<dxWorld>f)v;
+dWorldSetAutoDisableLinearThreshold(*<dxWorld>f)v;
+dWorldSetAutoDisableSteps(*<dxWorld>i)v;
+dWorldSetAutoDisableTime(*<dxWorld>f)v;
+dWorldSetAutoEnableDepthSF1(*<dxWorld>i)v;
+dWorldSetCFM(*<dxWorld>f)v;
+dWorldSetContactMaxCorrectingVel(*<dxWorld>f)v;
+dWorldSetContactSurfaceLayer(*<dxWorld>f)v;
+dWorldSetDamping(*<dxWorld>ff)v;
+dWorldSetERP(*<dxWorld>f)v;
+dWorldSetGravity(*<dxWorld>fff)v;
+dWorldSetLinearDamping(*<dxWorld>f)v;
+dWorldSetLinearDampingThreshold(*<dxWorld>f)v;
+dWorldSetMaxAngularSpeed(*<dxWorld>f)v;
+dWorldSetQuickStepNumIterations(*<dxWorld>i)v;
+dWorldSetQuickStepW(*<dxWorld>f)v;
+dWorldStep(*<dxWorld>f)v;
+dWorldStepFast1(*<dxWorld>fi)v;
+")
+parseStructInfos("
+dGeomClass{i*p*p*p*p}bytes collider aabb aabb_test dtor ;
+dxHeightfieldData{};
+dxTriMeshData{};
+dSurfaceParameters{ifffffffffff}mode mu mu2 bounce bounce_vel soft_erp soft_cfm motion1 motion2 motionN slip1 slip2 ;
+dxJointGroup{};
+dxJointNode{};
+dxJoint{};
+dxGeom{};
+dxBody{};
+dxSpace{};
+dxWorld{};
+")
+dSphereClass=0;
+dBoxClass=1;
+dCapsuleClass=2;
+dCylinderClass=3;
+dPlaneClass=4;
+dRayClass=5;
+dConvexClass=6;
+dGeomTransformClass=7;
+dTriMeshClass=8;
+dHeightfieldClass=9;
+dFirstSpaceClass=10;
+dSimpleSpaceClass=10;
+dHashSpaceClass=11;
+dSweepAndPruneSpaceClass=12;
+dQuadTreeSpaceClass=13;
+dLastSpaceClass=13;
+dFirstUserClass=14;
+dLastUserClass=17;
+dGeomNumClasses=18;
+dMaxUserClasses=4;
+dContactMu2=1;
+dContactFDir1=2;
+dContactBounce=4;
+dContactSoftERP=8;
+dContactSoftCFM=16;
+dContactMotion1=32;
+dContactMotion2=64;
+dContactMotionN=128;
+dContactSlip1=256;
+dContactSlip2=512;
+dContactApprox0=0;
+dContactApprox1_1=4096;
+dContactApprox1_2=8192;
+dContactApprox1=12288;
+dAllocateFlagBasicData=0;
+dAllocateFlagCollisionData=1;
+dAllocateMaskAll=-1;
+dInitFlagManualThreadCleanup=1;
+dAMotorUser=0;
+dAMotorEuler=1;
+dParamLoStop=0;
+dParamHiStop=1;
+dParamVel=2;
+dParamFMax=3;
+dParamFudgeFactor=4;
+dParamBounce=5;
+dParamCFM=6;
+dParamStopERP=7;
+dParamStopCFM=8;
+dParamSuspensionERP=9;
+dParamSuspensionCFM=10;
+dParamERP=11;
+dParamsInGroup=12;
+dParamGroup1=0;
+dParamLoStop1=0;
+dParamHiStop1=1;
+dParamVel1=2;
+dParamFMax1=3;
+dParamFudgeFactor1=4;
+dParamBounce1=5;
+dParamCFM1=6;
+dParamStopERP1=7;
+dParamStopCFM1=8;
+dParamSuspensionERP1=9;
+dParamSuspensionCFM1=10;
+dParamERP1=11;
+dParamGroup2=256;
+dParamLoStop2=256;
+dParamHiStop2=257;
+dParamVel2=258;
+dParamFMax2=259;
+dParamFudgeFactor2=260;
+dParamBounce2=261;
+dParamCFM2=262;
+dParamStopERP2=263;
+dParamStopCFM2=264;
+dParamSuspensionERP2=265;
+dParamSuspensionCFM2=266;
+dParamERP2=267;
+dParamGroup3=512;
+dParamLoStop3=512;
+dParamHiStop3=513;
+dParamVel3=514;
+dParamFMax3=515;
+dParamFudgeFactor3=516;
+dParamBounce3=517;
+dParamCFM3=518;
+dParamStopERP3=519;
+dParamStopCFM3=520;
+dParamSuspensionERP3=521;
+dParamSuspensionCFM3=522;
+dParamERP3=523;
+dParamGroup=256;
+dJointTypeNone=0;
+dJointTypeBall=1;
+dJointTypeHinge=2;
+dJointTypeSlider=3;
+dJointTypeContact=4;
+dJointTypeUniversal=5;
+dJointTypeHinge2=6;
+dJointTypeFixed=7;
+dJointTypeNull=8;
+dJointTypeAMotor=9;
+dJointTypeLMotor=10;
+dJointTypePlane2D=11;
+dJointTypePR=12;
+dJointTypePU=13;
+dJointTypePiston=14;
+dCCylinderClass=dCapsuleClass
+dCreateCCylinder=dCreateCapsule
+dGeomCCylinderGetParams=dGeomCapsuleGetParams
+dGeomCCylinderPointDepth=dGeomCapsulePointDepth
+dGeomCCylinderSetParams=dGeomCapsuleSetParams
+