Author: JonNeal
Date: 2008-03-03 18:39:26 -0500 (Mon, 03 Mar 2008)
New Revision: 1011

Modified:
   trunk/pysoy/include/ode.pxd
Log:
Transferred almost all of the ode functions and such to pyrex!


Modified: trunk/pysoy/include/ode.pxd
===================================================================
--- trunk/pysoy/include/ode.pxd 2008-03-03 03:16:51 UTC (rev 1010)
+++ trunk/pysoy/include/ode.pxd 2008-03-03 23:39:26 UTC (rev 1011)
@@ -89,9 +89,8 @@
     dFirstUserClass
     dLastUserClass
     dMaxUserClasses
-
+    
   ctypedef float dReal
-
   ctypedef dReal dVector3[4]
   ctypedef dReal dVector4[4]
   ctypedef dReal dMatrix3[4*3]
@@ -99,401 +98,602 @@
   ctypedef dReal dMatrix6[8*6]
   ctypedef dReal dQuaternion[4]
 
-  cdef struct dxWorld :
-    void *none
-  cdef struct dxSpace :
-    void *none
-  cdef struct dxBody :
-    void *none
-  cdef struct dxGeom :
-    void *none
-  cdef struct dxJoint :
-    void *none
-  cdef struct dxJointGroup :
-    void *none
-  cdef struct dxTriMeshData :
-    void *none
-  cdef struct dxHeightfieldData :
-    void *none
+  cdef : 
+    struct dxWorld
+    struct dxSpace
+    struct dxBody
+    struct dxGeom
+    struct dxJoint
+    struct dxJointGroup
+    struct dxTriMeshData
+    struct dxHeightfieldData
   
-  ctypedef dxHeightfieldData* dHeightfieldDataID
-  
-  ctypedef dReal dHeightfieldGetHeight ( void*, int, int )
-
   ctypedef dxWorld* dWorldID
   ctypedef dxSpace* dSpaceID
   ctypedef dxBody*  dBodyID
   ctypedef dxGeom*  dGeomID
   ctypedef dxJoint* dJointID
   ctypedef dxJointGroup*  dJointGroupID
-  ctypedef dxTriMeshData* dTryMeshDataID
+  ctypedef dxTriMeshData* dTriMeshDataID
+  ctypedef dxHeightfieldData* dHeightfieldDataID
 
   cdef struct dMass :
-    dReal      mass
-    dVector4   c
-    dMatrix3   I
+    dReal     mass
+    dVector4  c
+    dMatrix3  I
 
   cdef struct dJointFeedback :
-    dVector3 f1
-    dVector3 t1
-    dVector3 f2
-    dVector3 t2
+    dVector3  f1
+    dVector3  t1
+    dVector3  f2
+    dVector3  t2
 
   cdef struct dContactGeom :
-    dVector3    pos
-    dVector3    normal
-    dReal       depth
-    dGeomID     g1, g2
+    dVector3  pos
+    dVector3  normal
+    dReal     depth
+    dGeomID   g1, g2
+    int       side1,side2
 
   cdef struct dSurfaceParameters :
-    int                  mode
-    dReal                mu, mu2
-    dReal                bounce
-    dReal                bounce_vel
-    dReal                soft_erp
-    dReal                soft_cfm
-    dReal                motion1, motion2
-    dReal                slip1, slip2
+    int       mode
+    dReal     mu, mu2
+    dReal     bounce
+    dReal     bounce_vel
+    dReal     soft_erp
+    dReal     soft_cfm
+    dReal     motion1, motion2
+    dReal     slip1, slip2
 
   cdef struct dContact :
-    dSurfaceParameters   surface
-    dContactGeom         geom
-    dVector3             fdir1
-
-  ctypedef void dGetAABBFn  ( dGeomID, dReal )
-  ctypedef int  dColliderFn ( dGeomId, dGeomId, int, dContactGeom*, int )
+    dSurfaceParameters  surface
+    dContactGeom        geom
+    dVector3            fdir1
+  
+  cdef struct dStopwatch :
+    double time
+    unsigned long cc[2]
+    
+  ctypedef void  dGetAABBFn       ( dGeomID, dReal )
+  ctypedef int   dColliderFn      ( dGeomId, dGeomId, int, dContactGeom*, int )
   ctypedef dColliderFn* dGetColliderFnFn ( int )
-  ctypedef void dGeomDtorFn ( dGeomID )
-  ctypedef int  dAABBTestFn ( dGeomID, dGeomID, dReal )
+  ctypedef void  dGeomDtorFn      ( dGeomID )
+  ctypedef int   dAABBTestFn      ( dGeomID, dGeomID, dReal )
+  ctypedef void  dMessageFunction ( int, char*, va_list )
+  ctypedef int   dTriCallback     ( dGeomID, dGeomID, int )
+  ctypedef void  dTriArrayCallback( dGeomID, dGeomID, int*, int )
+  ctypedef int   dTriRayCallback  ( dGeomID, dGeomID, int, dReal, dReal )
+  ctypedef dReal dHeightfieldGetHeight( void*, int, int )
+  ctypedef void  dNearCallback    ( void*, dGeomID, dGeomID )
+  ctypedef void* dAllocFunction   ( size_t )
+  ctypedef void* dReallocFunction ( void*, size_t, size_t )
+  ctypedef void  dFreeFunction    ( void*, size_t )
+  
   cdef struct dGeomClass: 
-    int                bytes
+    int               bytes
     dGetColliderFnFn  *collider
     dGetAABBFn        *aabb
     dAABBTestFn       *aabb_test
     dGeomDtorFn       *dtor
-  
 
-
-  cdef void  dInitODE()
-  cdef void  dCloseODE()
-
-  cdef dWorldID dWorldCreate       ( )
-  cdef void  dWorldDestroy         ( dWorldID )
-  cdef void  dWorldSetGravity      ( dWorldID, dReal, dReal, dReal )
-  cdef void  dWorldGetGravity      ( dWorldID, dVector3 )
-  cdef void  dWorldSetERP          ( dWorldID, dReal )
-  cdef dReal dWorldGetERP          ( dWorldID )
-  cdef void  dWorldSetCFM          ( dWorldID, dReal )
-  cdef dReal dWorldGetCFM          ( dWorldID )
-  cdef void  dWorldQuickStep       ( dWorldID, dReal stepsize )
-  cdef void  dWorldImpulseToForce  ( dWorldID, dReal, dReal, dReal, dReal, 
-                                    dVector3 )
-  cdef void  dBodyAddForce         ( dBodyID, dReal, dReal, dReal )
-  cdef void  dBodyAddForceAtRelPos ( dBodyID, dReal, dReal, dReal, dReal, 
dReal, dReal )
-
-  cdef void   dBodySetData         ( dBodyID, void *data )
-  cdef void  *dBodyGetData         ( dBodyID )
-  
-  cdef dBodyID dBodyCreate        ( dWorldID )
-  cdef void    dBodyDestroy       ( dBodyID )
-  cdef void    dBodyGetMass       ( dBodyID, dMass* )
-  cdef void    dBodySetMass       ( dBodyID, dMass* )
-  cdef dReal  *dBodyGetPosition   ( dBodyID )
-  cdef dReal  *dBodyGetRotation   ( dBodyID )
-  cdef dReal  *dBodyGetQuaternion ( dBodyID )
-  cdef dReal  *dBodyGetLinearVel  ( dBodyID )
-  cdef dReal  *dBodyGetAngularVel ( dBodyID )
-  cdef int     dBodyGetGravityMode( dBodyID )
-  cdef void    dBodyCopyPosition  ( dBodyID, dVector3 )
-  cdef void    dBodyCopyRotation  ( dBodyID, dMatrix3 )
-  cdef void    dBodyCopyQuaternion( dBodyID, dQuaternion )
-  cdef void    dBodySetPosition   ( dBodyID, dReal, dReal, dReal )
-  cdef void    dBodySetRotation   ( dBodyID, dMatrix3 )
-  cdef void    dBodySetQuaternion ( dBodyID, dQuaternion )
-  cdef void    dBodySetLinearVel  ( dBodyID, dReal, dReal, dReal )
-  cdef void    dBodySetAngularVel ( dBodyID, dReal, dReal, dReal )
-  cdef void    dBodySetGravityMode( dBodyID, int )
-
-  # Space functions
-
-  ctypedef void (*dNearCallback)     ( void*, dGeomID, dGeomID )
-  cdef dSpaceID dSimpleSpaceCreate   ( dSpaceID )
-  cdef dSpaceID dHashSpaceCreate     ( dSpaceID )
-  cdef dSpaceID dQuadTreeSpaceCreate ( dSpaceID, dVector3, dVector3, int )
-  cdef void     dSpaceDestroy        ( dSpaceID )
-  cdef void     dHashSpaceSetLevels  ( dSpaceID, int, int )
-  cdef void     dHashSpaceGetLevels  ( dSpaceID, int*, int* )
-  cdef void     dSpaceSetCleanup     ( dSpaceID, int )
-  cdef int      dSpaceGetCleanup     ( dSpaceID )
-  cdef void     dSpaceAdd            ( dSpaceID, dGeomID )
-  cdef void     dSpaceRemove         ( dSpaceID, dGeomID )
-  cdef int      dSpaceQuery          ( dSpaceID, dGeomID )
-  cdef void     dSpaceClean          ( dSpaceID )
-  cdef int      dSpaceGetNumGeoms    ( dSpaceID )
-  cdef dGeomID  dSpaceGetGeom        ( dSpaceID, int )
-
-  # Collision functions
-
-  cdef void     dSpaceCollide        ( dSpaceID, void*, dNearCallback )
-  cdef void     dSpaceCollide2       ( dGeomID, dGeomID, void*, dNearCallback )
-  cdef int      dCollide             ( dGeomID, dGeomID, int, dContactGeom*, 
int )
-
-  # General geom functions
-  cdef void           dGeomDestroy          ( dGeomID )
-  cdef void           dGeomSetData          ( dGeomID, void* )
-  cdef void*          dGeomGetData          ( dGeomID )
-  cdef void           dGeomSetBody          ( dGeomID, dBodyID )
-  cdef dBodyID        dGeomGetBody          ( dGeomID )
-  cdef void           dGeomSetPosition      ( dGeomID, dReal , dReal, dReal )
-  cdef void           dGeomSetRotation      ( dGeomID, dMatrix3 )
-  cdef void           dGeomSetQuaternion    ( dGeomID, dQuaternion )
-  cdef dReal*         dGeomGetPosition      ( dGeomID )
-  cdef void           dGeomCopyPosition     ( dGeomID, dVector3 )
-  cdef dReal*         dGeomGetRotation      ( dGeomID )
-  cdef void           dGeomCopyRotation            ( dGeomID, dMatrix3 )
-  cdef void           dGeomGetQuaternion    ( dGeomID, dQuaternion )
-  cdef void           dGeomGetAABB          ( dGeomID, dReal[6] )
-  cdef int            dGeomIsSpace          ( dGeomID )
-  cdef dSpaceID       dGeomGetSpace         ( dGeomID )
-  cdef int            dGeomGetClass         ( dGeomID )
-  cdef void           dGeomSetCategoryBits  ( dGeomID, unsigned long )
-  cdef void           dGeomSetCollideBits   ( dGeomID, unsigned long )
-  cdef unsigned long  dGeomGetCategoryBits  ( dGeomID )
-  cdef unsigned long  dGeomGetCollideBits   ( dGeomID )
-  cdef void           dGeomEnable           ( dGeomID )
-  cdef void           dGeomDisable          ( dGeomID )
-  cdef int            dGeomIsEnabled        ( dGeomID )
-  
-  # Offset geom functions
-  cdef void           dGeomSetOffsetPosition        ( dGeomID, dReal,
-                                                      dReal, dReal )
-  cdef void           dGeomSetOffsetRotation        ( dGeomID, dMatrix3 )
-  cdef void           dGeomSetOffsetQuaternion      ( dGeomID, dQuaternion )
-  cdef void           dGeomSetOffsetWorldPosition   ( dGeomID, dReal,
-                                                      dReal, dReal )
-  cdef void           dGeomSetOffsetWorldRotation   ( dGeomID, dMatrix3 )
-  cdef void           dGeomSetOffsetWorldQuaternion ( dGeomID, dQuaternion )
-  cdef void           dGeomClearOffset              ( dGeomID )
-  cdef int            dGeomIsOffset                 ( dGeomID )
-  cdef dReal*         dGeomGetOffsetPosition        ( dGeomID )
-  cdef void           dGeomCopyOffsetPosition       ( dGeomID, dVector3 )
-  cdef dReal*         dGeomGetOffsetRotation        ( dGeomID )
-  cdef void           dGeomCopyOffsetRotation       ( dGeomID, dMatrix3 )
-  cdef void           dGeomGetOffsetQuaternion      ( dGeomID, dQuaternion )
-
-  # Specific geom functions
-  cdef void           dGeomSphereSetRadius     ( dGeomID, dReal )
-  cdef void           dGeomBoxSetLengths       ( dGeomID, dReal, dReal, dReal )
-  cdef void           dGeomBoxGetLengths       ( dGeomID, dVector3 )
-  cdef void           dGeomPlaneSetParams      ( dGeomID, dReal, dReal, dReal,
-                                                 dReal )
-  cdef void           dGeomPlaneGetParams      ( dGeomID, dVector4 )
-  cdef void           dGeomCCylinderSetParams  ( dGeomID, dReal, dReal )
-  cdef void           dGeomCCylinderGetParams  ( dGeomID, dReal*, dReal* )
-  cdef void           dGeomRaySetLength        ( dGeomID, dReal )
-  cdef void           dGeomRaySet              ( dGeomID, dReal, dReal, dReal,
-                                                 dReal, dReal, dReal)
-  cdef void           dGeomRaySetParams        ( dGeomID, int, int )
-  cdef void           dGeomRayGet              ( dGeomID, dVector3, dVector3 )
-  cdef void           dGeomRayGetParams        ( dGeomID, int*, int* )
-  cdef dReal          dGeomSphereGetRadius     ( dGeomID )
-  cdef dReal          dGeomSpherePointDepth    ( dGeomID, dReal, dReal, dReal )
-  cdef dGeomID        dCreateConvex            ( dSpaceID, dReal*,
-                                                 unsigned int, dReal*,
-                                                 unsigned int, unsigned int* )
-  cdef void           dGeomSetConvex           ( dGeomID, dReal*, 
-                                                 unsigned int, dReal*,
-                                                 unsigned int, unsigned int* )
-  cdef dReal          dGeomBoxPointDepth       ( dGeomID, dReal, dReal, dReal )
-  cdef dReal          dGeomPlanePointDepth     ( dGeomID, dReal, dReal, dReal )
-  cdef dReal          dGeomCCylinderPointDepth ( dGeomID, dReal, dReal, dReal)
-  cdef dReal          dGeomRayGetLength        ( dGeomID )
-  cdef dGeomID        dCreateSphere            ( dSpaceID, dReal )
-  cdef dGeomID        dCreateBox               ( dSpaceID, dReal, dReal,
-                                                 dReal )
-  cdef dGeomID        dCreatePlane             ( dSpaceID, dReal, dReal,
-                                                 dReal, dReal)
-  cdef dGeomID        dCreateCCylinder         ( dSpaceID, dReal, dReal )
-  cdef dGeomID        dCreateRay               ( dSpaceID, dReal )
-  cdef dGeomID        dCreateCapsule           ( dSpaceID, dReal, dReal )
-  cdef void           dGeomCapsuleSetParams    ( dGeomID, dReal, dReal )
-  cdef void           dGeomCapsuleGetParams    ( dGeomID, dReal*, dReal* )
-  cdef dReal          dGeomCapsulePointDepth   ( dGeomID, dReal, dReal, dReal )
-  cdef dGeomID        dCreateCylinder          ( dSpaceID, dReal, dReal )
-  cdef void           dGeomCylinderSetParams   ( dGeomID, dReal, dReal )
-  cdef void           dGeomCylinderGetParams   ( dGeomID, dReal*, dReal* )
-  cdef void           dGeomRaySetClosestHit    ( dGeomID, int )
-  cdef int            dGeomRayGetClosestHit    ( dGeomID )
-  cdef dGeomID        dCreateGeomTransform     ( dSpaceID )
-  cdef void           dGeomTransformSetGeom    ( dGeomID, dReal )
-  cdef dGeomID        dGeomTransformGetGeom    ( dGeomID )
-  cdef void           dGeomTransformSetCleanup ( dGeomID, int )
-  cdef int            dGeomTransformGetCleanup ( dGeomID )
-  cdef void           dGeomTransformSetInfo    ( dGeomID, int )
-  cdef int            dGeomTransformGetInfo    ( dGeomID )
-
-  cdef dJointID dJointCreateBall         ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreateHinge        ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreateSlider       ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreateContact      ( dWorldID, dJointGroupID, dContact* )
-  cdef dJointID dJointCreateHinge2       ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreateUniversal    ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreatePR           ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreateFixed        ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreateNull         ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreateAMotor       ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreateLMotor       ( dWorldID, dJointGroupID )
-  cdef dJointID dJointCreatePlane2D      ( dWorldID, dJointGroupID )
-  cdef void     dJointDestroy            ( dJointID )
-  cdef dJointGroupID dJointGroupCreate   ( int )
-  cdef void          dJointGroupDestroy  ( dJointGroupID )
-  cdef void          dJointGroupEmpty    ( dJointGroupID )
-  cdef void  dJointAttach                ( dJointID, dBodyID, dBodyID )
-  cdef void  dJointSetData               ( dJointID, void* )
-  cdef void  dJointGetData               ( dJointID )
-  cdef void  dJointGetType               ( dJointID )
-  cdef void  dJointGetBody               ( dJointID, int index )
-  cdef void  dJointSetFeedback           ( dJointID, dJointFeedback* )
-  cdef void  dJointGetFeedback           ( dJointID )
-  cdef void  dJointSetBallAnchor         ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetBallAnchor2        ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetHingeAnchor        ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetHingeAnchorDelta   ( dJointID, dReal, dReal, dReal, 
-                                                     dReal, dReal, dReal )
-  cdef void  dJointSetHingeAxis          ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetHingeParam         ( dJointID, int, dReal )
-  cdef void  dJointAddHingeTorque        ( dJointID, dReal )
-  cdef void  dJointSetSliderAxis         ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetSliderAxisDelta    ( dJointID, dReal, dReal, dReal,
-                                                     dReal, dReal, dReal )
-  cdef void  dJointSetSliderParam        ( dJointID, int, dReal )
-  cdef void  dJointAddSliderForce        ( dJointID, dReal force )
-  cdef void  dJointSetHinge2Anchor       ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetHinge2Axis1        ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetHinge2Axis2        ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetHinge2Param        ( dJointID, int, dReal )
-  cdef void  dJointAddHinge2Torques      ( dJointID, dReal, dReal )
-  cdef void  dJointSetUniversalAnchor    ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetUniversalAxis1     ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetUniversalAxis2     ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetUniversalParam     ( dJointID, int, dReal )
-  cdef void  dJointAddUniversalTorques   ( dJointID, dReal, dReal )
-  cdef void  dJointSetPRAnchor           ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetPRAxis1            ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetPRAxis2            ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetPRParam            ( dJointID, int, dReal )
-  cdef void  dJointAddPRTorque           ( dJointID, dReal )
-  cdef void  dJointSetFixed              ( dJointID )
-  cdef void  dJointSetAMotorNumAxes      ( dJointID, int )
-  cdef void  dJointSetAMotorAxis         ( dJointID, int, int, 
-                                           dReal, dReal, dReal )
-  cdef void  dJointSetAMotorAngle        ( dJointID, int, dReal )
-  cdef void  dJointSetAMotorParam        ( dJointID, int, dReal )
-  cdef void  dJointSetAMotorMode         ( dJointID, int )
-  cdef void  dJointAddAMotorTorques      ( dJointID, dReal, dReal, dReal )
-  cdef void  dJointSetLMotorNumAxes      ( dJointID, int )
-  cdef void  dJointSetLMotorAxis         ( dJointID, int, int, 
-                                           dReal, dReal, dReal )
-  cdef void  dJointSetLMotorParam        ( dJointID, int, dReal )
-  cdef void  dJointSetPlane2DXParam      ( dJointID, int, dReal )
-  cdef void  dJointSetPlane2DYParam      ( dJointID, int, dReal )
-  cdef void  dJointSetPlane2DAngleParam  ( dJointID, int, dReal )
-  cdef void  dJointGetBallAnchor         ( dJointID, dVector3 )
-  cdef void  dJointGetBallAnchor2        ( dJointID, dVector3 )
-  cdef void  dJointGetHingeAnchor        ( dJointID, dVector3 )
-  cdef void  dJointGetHingeAnchor2       ( dJointID, dVector3 )
-  cdef void  dJointGetHingeAxis          ( dJointID, dVector3 )
-  cdef dReal dJointGetHingeParam         ( dJointID, int )
-  cdef dReal dJointGetHingeAngle         ( dJointID )
-  cdef dReal dJointGetHingeAngleRate     ( dJointID )
-  cdef dReal dJointGetSliderPosition     ( dJointID )
-  cdef dReal dJointGetSliderPositionRate ( dJointID )
-  cdef void  dJointGetSliderAxis         ( dJointID, dVector3 )
-  cdef dReal dJointGetSliderParam        ( dJointID, int )
-  cdef void  dJointGetHinge2Anchor       ( dJointID, dVector3 )
-  cdef void  dJointGetHinge2Anchor2      ( dJointID, dVector3 )
-  cdef void  dJointGetHinge2Axis1        ( dJointID, dVector3 )
-  cdef void  dJointGetHinge2Axis2        ( dJointID, dVector3 )
-  cdef dReal dJointGetHinge2Param        ( dJointID, int )
-  cdef dReal dJointGetHinge2Angle1       ( dJointID )
-  cdef dReal dJointGetHinge2Angle1Rate   ( dJointID )
-  cdef dReal dJointGetHinge2Angle2Rate   ( dJointID )
-  cdef void  dJointGetUniversalAnchor    ( dJointID, dVector3 )
-  cdef void  dJointGetUniversalAnchor2   ( dJointID, dVector3 )
-  cdef void  dJointGetUniversalAxis1     ( dJointID, dVector3 )
-  cdef void  dJointGetUniversalAxis2     ( dJointID, dVector3 )
-  cdef dReal dJointGetUniversalParam     ( dJointID, int )
-  cdef void  dJointGetUnivernalAngles    ( dJointID, dReal*, dReal* )
-  cdef dReal dJointGetUniversalAngle1    ( dJointID )
-  cdef dReal dJointGetUniversalAngle2    ( dJointID )
-  cdef dReal dJointGetUniversalAngle1Rate( dJointID )
-  cdef dReal dJointGetUniversalAngle2Rate( dJointID )
-  cdef void  dJointGetPRAnchor           ( dJointID, dVector3 )
-  cdef dReal dJointGetPRPosition         ( dJointID )
-  cdef dReal dJointGetPRPositionRate     ( dJointID )
-  cdef void  dJointGetPRAxis1            ( dJointID, dVector3 )
-  cdef void  dJointGetPRAxis2            ( dJointID, dVector3 )
-  cdef dReal dJointGetPRParam            ( dJointID, int )
-  cdef int   dJointGetAMotorNumAxes      ( dJointID )
-  cdef void  dJointGetAMotorAxis         ( dJointID, int, dVector3 )
-  cdef int   dJointGetAMotorAxisRel      ( dJointID, int )
-  cdef dReal dJointGetAMotorAngle        ( dJointID, int )
-  cdef dReal dJointGetAMotorAngleRate    ( dJointID, int )
-  cdef dReal dJointGetAMotorParam        ( dJointID, int )
-  cdef int   dJointGetAMotorMode         ( dJointID )
-  cdef int   dJointGetLMotorNumAxes      ( dJointID )
-  cdef void  dJointGetLMotorAxis         ( dJointID, int, dVector3 )
-  cdef dReal dJointGetLMotorParam        ( dJointID, int )
-  cdef dGeomID dCreateHeightField        ( dSpaceID, 
-                                           dHeightfieldDataID, int )
-
-  cdef dHeightfieldDataID dGeomHeightfieldDataCreate ( )
-  cdef void dGeomHeightfieldDataDestroy              ( dHeightfieldDataID )
-  cdef void dGeomHeightfieldDataBuildCallback        ( dHeightfieldDataID,
-
-  dHeightfieldGetHeight*, 
-                                                       dReal, dReal, int,
-                                                       int, dReal, dReal, 
-                                                       dReal, int )
-  cdef void dGeomHeightfieldDataBuildByte            ( dHeightfieldDataID,
-                                                       int,dReal,dReal,int, 
-                                                       int, dReal, dReal, 
-                                                       dReal, int )
-  cdef void dGeomHeightfieldDataBuildShort           ( dHeightfieldDataID, 
-                                                       int, dReal, dReal, 
-                                                       dReal, int, int,
-                                                       dReal, dReal, dReal,
-                                                       int )
-  cdef void dGeomHeightfieldDataBuildSingle          ( dHeightfieldDataID,
-                                                       int, dReal, int, int,
-                                                       dReal, dReal, dReal,
-                                                       int )
-  cdef void dGeomHeightfieldDataBuildDouble          ( dHeightfieldDataID,
-                                                       int, dReal, dReal,
-                                                       int, dReal, dReal,
-                                                       dReal, int ) 
-  cdef void dGeomHeightfieldDataSetBounds            ( dHeightfieldDataID,
-                                                       dReal, dReal )
-  cdef void dGeomHeightfieldSetHeightfieldData       ( dHeightfieldDataID,
-                                                       dGeomID )
-  cdef dHeightfieldDataID dGeomHeightfieldGetHeightfieldData \
-                                                     ( dGeomID g )
-  cdef void dClosestLineSegmentPoints                ( dVector3, dVector3 )
-  cdef int dBoxTouchesBox                            ( )
-  cdef int dBoxBox                                   ( dVector3, dReal*,
-                                                       int*, int, 
-                                                       dContactGeom*, int )
-  cdef void dInfiniteAABB                            ( dGeomID, dReal )
-  cdef void dNormalize3                     ( dVector3 )
-  cdef int dCreateGeomClass                ( )
-  cdef dGeomID dCreateGeom                 ( int )
-                                                       
-  # Math Functions
-  cdef dReal   dSqrt                       ( dReal )
-  cdef dReal   dRecipSqrt                  ( dReal )
-  cdef dReal   dSin                        ( dReal )
-  cdef dReal   dCos                        ( dReal )
-  cdef dReal   dFabs                       ( dReal )
-  cdef dReal   dAtan2                      ( dReal, dReal )
-  cdef dReal   dFMod                       ( dReal, dReal )
-  cdef dReal   dDISTANCE                   ( dVector3, dVector3 )
+  cdef :
+    void    dGeomTriMeshDataSet           ( dTriMeshDataID, int, void* )
+    dTriMeshDataID  dGeomTriMeshDataCreate( )
+    void    dGeomTriMeshDataDestroy       ( dTriMeshDataID )
+    void*   dGeomTriMeshDataGet           ( dTriMeshDataID, int )
+    void    dGeomTriMeshSetLastTransform  ( dGeomID, dMatrix4 )
+    dReal*  dGeomTriMeshGetLastTransform  ( dGeomID )
+    void    dGeomTriMeshDataBuildSingle   ( dTriMeshDataID, void*, int, int,
+                                            void*, int, int )
+    void    dGeomTriMeshDataBuildSingle1  ( dTriMeshDataID, void*, int, int,
+                                            void*, int, int, void* )
+    void    dGeomTriMeshDataBuildDouble   ( dTriMeshDataID, void*,  int, int,
+                                            void*, int, int )
+    void    dGeomTriMeshDataBuildDouble1  ( dTriMeshDataID, void*,  int, int,
+                                            void*, int, int, void* )
+    void    dGeomTriMeshDataBuildSimple   ( dTriMeshDataID, dReal*, int, int*,
+                                            int )
+    void    dGeomTriMeshDataBuildSimple1  ( dTriMeshDataID, dReal*, int, int*,
+                                            int, int* )
+    void    dGeomTriMeshDataPreprocess    ( dTriMeshDataID )
+    void    dGeomTriMeshDataGetBuffer     ( dTriMeshDataID, unsigned char**,
+                                            int* )
+    void    dGeomTriMeshDataSetBuffer     ( dTriMeshDataID, unsigned char* )
+    void    dGeomTriMeshSetCallback       ( dGeomID, dTriCallback* )
+    dTriCallback* dGeomTriMeshGetCallback ( dGeomID )
+    void    dGeomTriMeshSetArrayCallback  ( dGeomID, dTriArrayCallback* )
+    dTriArrayCallback* dGeomTriMeshGetArrayCallback( dGeomID )
+    void    dGeomTriMeshSetRayCallback    ( dGeomID, dTriRayCallback* )
+    dTriRayCallback* dGeomTriMeshGetRayCallback( dGeomID )
+    dGeomID dCreateTriMesh                ( dSpaceID, dTriMeshDataID, 
dTriCallback*,
+                                            dTriArrayCallback*, 
dTriRayCallback* )
+    void    dGeomTriMeshSetData           ( dGeomID, dTriMeshDataID )
+    dTriMeshDataID dGeomTriMeshGetData    ( dGeomID )
+    void    dGeomTriMeshEnableTC          ( dGeomID, int, int )
+    int     dGeomTriMeshIsTCEnabled       ( dGeomID, int )
+    void    dGeomTriMeshClearTCCache      ( dGeomID )
+    dTriMeshDataID dGeomTriMeshGetTriMeshDataID( dGeomID )
+    void    dGeomTriMeshGetTriangle       ( dGeomID, int, dVector3*, dVector3*,
+                                            dVector3* )
+    void    dGeomTriMeshGetPoint          ( dGeomID, int, dReal, dReal, 
dVector3 )
+    int     dGeomTriMeshGetTriangleCount  ( dGeomID )
+    void    dGeomTriMeshDataUpdate        ( dTriMeshDataID )
+    int     dSafeNormalize3               ( dVector3 )
+    int     dSafeNormalize4               ( dVector4 )
+    void    dNormalize3                   ( dVector3 )
+    void    dNormalize4                   ( dVector4 )
+    void    dPlaneSpace                   ( dVector3, dVector3, dVector3 )
+    int     dMassCheck                    ( dMass* )
+    void    dMassSetZero                  ( dMass* )
+    void    dMassSetParameters            ( dMass*, dReal, dReal, dReal, 
dReal, dReal,
+                                            dReal, dReal, dReal, dReal, dReal )
+    void    dMassSetSphere                ( dMass*, dReal, dReal )
+    void    dMassSetSphereTotal           ( dMass*, dReal, dReal )
+    void    dMassSetCapsule               ( dMass*, dReal, int, dReal, dReal )
+    void    dMassSetCapsuleTotal          ( dMass*, dReal, int, dReal, dReal )
+    void    dMassSetCylinder              ( dMass*, dReal, int, dReal, dReal )
+    void    dMassSetCylinderTotal         ( dMass*, dReal, int, dReal, dReal )
+    void    dMassSetBox                   ( dMass*, dReal, dReal, dReal, dReal 
)
+    void    dMassSetBoxTotal              ( dMass*, dReal, dReal, dReal, dReal 
)
+    void    dMassSetTrimesh               ( dMass*, dReal, dGeomID )
+    void    dMassSetTrimeshTotal          ( dMass*, dReal, dGeomID )
+    void    dMassAdjust                   ( dMass*, dReal )
+    void    dMassTranslate                ( dMass*, dReal, dReal, dReal )
+    void    dMassRotate                   ( dMass*, dMatrix3 )
+    void    dMassAdd                      ( dMass*, dMass* )
+    void    dSetErrorHandler              ( dMessageFunction* )
+    void    dSetDebugHandler              ( dMessageFunction* )
+    void    dSetMessageHandler            ( dMessageFunction* )
+    dMessageFunction* dGetErrorHandler    ( )
+    dMessageFunction* dGetDebugHandler    ( )
+    dMessageFunction* dGetMessageHandler  ( )
+    void    dError                        ( int, char*, ... )
+    void    dDebug                        ( int, char*, ... )
+    void    dMessage                      ( int, char*, ... )
+    void    dStopwatchReset               ( dStopwatch* )
+    void    dStopwatchStart               ( dStopwatch* )
+    void    dStopwatchStop                ( dStopwatch* )
+    double  dStopwatchTime                ( dStopwatch* )
+    void    dTimerStart                   ( char* )
+    void    dTimerNow                     ( char* )
+    void    dTimerEnd                     ( )
+    void    dTimerReport                  ( void*, int )
+    double  dTimerTicksPerSecond          ( )
+    double  dTimerResolution              ( )
+    void    dGeomDestroy                  ( dGeomID )
+    void    dGeomSetData                  ( dGeomID, void* )
+    void    *dGeomGetData                 ( dGeomID )
+    void    dGeomSetBody                  ( dGeomID, dBodyID )
+    dBodyID dGeomGetBody                  ( dGeomID )
+    void    dGeomSetPosition              ( dGeomID, dReal, dReal, dReal )
+    void    dGeomSetRotation              ( dGeomID, dMatrix3 )
+    void    dGeomSetQuaternion            ( dGeomID, dQuaternion )
+    dReal*  dGeomGetPosition              ( dGeomID )
+    void    dGeomCopyPosition             ( dGeomID, dVector3 )
+    dReal*  dGeomGetRotation              ( dGeomID )
+    void    dGeomCopyRotation             ( dGeomID, dMatrix3 )
+    void    dGeomGetQuaternion            ( dGeomID, dQuaternion )
+    void    dGeomGetAABB                  ( dGeomID, dReal )
+    int     dGeomIsSpace                  ( dGeomID )
+    dSpaceID dGeomGetSpace                ( dGeomID )
+    int     dGeomGetClass                 ( dGeomID )
+    void    dGeomSetCategoryBits          ( dGeomID, unsigned long )
+    void    dGeomSetCollideBits           ( dGeomID, unsigned long )
+    unsigned long dGeomGetCategoryBits    ( dGeomID )
+    unsigned long dGeomGetCollideBits     ( dGeomID )
+    void    dGeomEnable                   ( dGeomID )
+    void    dGeomDisable                  ( dGeomID )
+    int     dGeomIsEnabled                ( dGeomID )
+    void    dGeomSetOffsetPosition        ( dGeomID, dReal, dReal, dReal )
+    void    dGeomSetOffsetRotation        ( dGeomID, dMatrix3 )
+    void    dGeomSetOffsetQuaternion      ( dGeomID, dQuaternion )
+    void    dGeomSetOffsetWorldPosition   ( dGeomID, dReal, dReal, dReal )
+    void    dGeomSetOffsetWorldRotation   ( dGeomID, dMatrix3 )
+    void    dGeomSetOffsetWorldQuaternion ( dGeomID, dQuaternion )
+    void    dGeomClearOffset              ( dGeomID )
+    int     dGeomIsOffset                 ( dGeomID )
+    dReal*  dGeomGetOffsetPosition        ( dGeomID )
+    void    dGeomCopyOffsetPosition       ( dGeomID, dVector3 )
+    dReal*  dGeomGetOffsetRotation        ( dGeomID )
+    void    dGeomCopyOffsetRotation       ( dGeomID, dMatrix3 )
+    void    dGeomGetOffsetQuaternion      ( dGeomID, dQuaternion )
+    int     dCollide                      ( dGeomID, dGeomID, int,
+                                            dContactGeom*, int )
+    void    dSpaceCollide                 ( dSpaceID, void*, dNearCallback* )
+    void    dSpaceCollide2                ( dGeomID, dGeomID, void*,
+                                            dNearCallback* )
+    dGeomID dCreateSphere                 ( dSpaceID, dReal )
+    void    dGeomSphereSetRadius          ( dGeomID, dReal )
+    dReal   dGeomSphereGetRadius          ( dGeomID )
+    dReal   dGeomSpherePointDepth         ( dGeomID, dReal, dReal, dReal )
+    dGeomID dCreateConvex                 ( dSpaceID, dReal*, unsigned int,
+                                            dReal*, unsigned int,
+                                            unsigned int )
+    void    dGeomSetConvex                ( dGeomID, dReal*, unsigned int,
+                                            dReal*, unsigned int,
+                                            unsigned int* )
+    dGeomID dCreateBox                    ( dSpaceID, dReal, dReal,
+                                            dReal )
+    void    dGeomBoxSetLengths            ( dGeomID, dReal, dReal,
+                                            dReal )
+    void    dGeomBoxGetLengths            ( dGeomID , dVector3 )
+    dReal   dGeomBoxPointDepth            ( dGeomID, dReal, dReal,
+                                            dReal )
+    dGeomID dCreatePlane                  ( dSpaceID, dReal, dReal,
+                                            dReal, dReal )
+    void    dGeomPlaneSetParams           ( dGeomID, dReal, dReal,
+                                            dReal, dReal )
+    void    dGeomPlaneGetParams           ( dGeomID, dVector4 )
+    dReal   dGeomPlanePointDepth          ( dGeomID, dReal, dReal,
+                                            dReal )
+    dGeomID dCreateCapsule                ( dSpaceID, dReal, dReal )
+    void    dGeomCapsuleSetParams         ( dGeomID, dReal, dReal )
+    void    dGeomCapsuleGetParams         ( dGeomID, dReal*, dReal* )
+    dReal   dGeomCapsulePointDepth        ( dGeomID, dReal, dReal,
+                                            dReal )
+    dGeomID dCreateCylinder               ( dSpaceID, dReal, dReal )
+    void    dGeomCylinderSetParams        ( dGeomID, dReal, dReal )
+    void    dGeomCylinderGetParams        ( dGeomID, dReal*, dReal* )
+    dGeomID dCreateRay                    ( dSpaceID, dReal )
+    void    dGeomRaySetLength             ( dGeomID, dReal )
+    dReal   dGeomRayGetLength             ( dGeomID )
+    void    dGeomRaySet                   ( dGeomID, dReal, dReal, dReal,
+                                            dReal, dReal, dReal )
+    void    dGeomRayGet                   ( dGeomID, dVector3, dVector3 )
+    void    dGeomRaySetParams             ( dGeomID, int, int )
+    void    dGeomRayGetParams             ( dGeomID, int*, int* )
+    void    dGeomRaySetClosestHit         ( dGeomID, int )
+    int     dGeomRayGetClosestHit         ( dGeomID )
+    dGeomID dCreateGeomTransform          ( dSpaceID )
+    void    dGeomTransformSetGeom         ( dGeomID, dGeomID )
+    dGeomID dGeomTransformGetGeom         ( dGeomID )
+    void    dGeomTransformSetCleanup      ( dGeomID , int )
+    int     dGeomTransformGetCleanup      ( dGeomID )
+    void    dGeomTransformSetInfo         ( dGeomID , int )
+    int     dGeomTransformGetInfo         ( dGeomID )
+    dGeomID dCreateHeightfield            ( dSpaceID, dHeightfieldDataID, int )
+    dHeightfieldDataID dGeomHeightfieldDataCreate( )
+    void    dGeomHeightfieldDataDestroy   ( dHeightfieldDataID )
+    void    dGeomHeightfieldDataBuildCallback( dHeightfieldDataID , void*,
+                                               dHeightfieldGetHeight*, dReal,
+                                               dReal, int, int, dReal, dReal,
+                                               dReal, int )
+    void    dGeomHeightfieldDataBuildByte ( dHeightfieldDataID, unsigned char*,
+                                            int, dReal, dReal, int, int, dReal,
+                                            dReal, dReal, int )
+    void    dGeomHeightfieldDataBuildShort( dHeightfieldDataID, short*,
+                                            int, dReal, dReal, int, int,
+                                            dReal, dReal, dReal, int )
+    void    dGeomHeightfieldDataBuildSingle( dHeightfieldDataID, float*,
+                                             int, dReal, dReal, int, int,
+                                             dReal, dReal, dReal, int )
+    void    dGeomHeightfieldDataBuildDouble( dHeightfieldDataID, double*,
+                                             int, dReal, dReal, int, int,
+                                            dReal, dReal, dReal, int )
+    void    dGeomHeightfieldDataSetBounds ( dHeightfieldDataID, dReal,
+                                            dReal )
+    void    dGeomHeightfieldSetHeightfieldData( dGeomID, dHeightfieldDataID )
+    dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID )
+    void    dClosestLineSegmentPoints     ( dVector3, dVector3, dVector3,
+                                            dVector3, dVector3, dVector3 )
+    int     dBoxTouchesBox                ( dVector3, dMatrix3, dVector3,
+                                            dVector3, dMatrix3, dVector3 )
+    int     dBoxBox                       ( dVector3, dMatrix3, dVector3,
+                                            dVector3, dMatrix3, dVector3,
+                                            dVector3, dReal*, int*, int,
+                                            dContactGeom*, int )
+    void    dInfiniteAABB                 ( dGeomID, dReal )
+    void    dInitODE                      ( )
+    void    dCloseODE                     ( )
+    int     dCreateGeomClass              ( dGeomClass* )
+    void*   dGeomGetClassData             ( dGeomID )
+    dGeomID dCreateGeom                   ( int )
+    dSpaceID dSimpleSpaceCreate           ( dSpaceID )
+    dSpaceID dHashSpaceCreate             ( dSpaceID )
+    dSpaceID dQuadTreeSpaceCreate         ( dSpaceID, dVector3, dVector3,
+                                            int )
+    void    dSpaceDestroy                 ( dSpaceID )
+    void    dHashSpaceSetLevels           ( dSpaceID, int, int )
+    void    dHashSpaceGetLevels           ( dSpaceID, int*, int* )
+    void    dSpaceSetCleanup              ( dSpaceID, int )
+    int     dSpaceGetCleanup              ( dSpaceID )
+    void    dSpaceAdd                     ( dSpaceID, dGeomID )
+    void    dSpaceRemove                  ( dSpaceID, dGeomID )
+    int     dSpaceQuery                   ( dSpaceID, dGeomID )
+    void    dSpaceClean                   ( dSpaceID )
+    int     dSpaceGetNumGeoms             ( dSpaceID )
+    dGeomID dSpaceGetGeom                 ( dSpaceID, int )
+    void    dRSetIdentity                 ( dMatrix3 )
+    void    dRFromAxisAndAngle            ( dMatrix3, dReal, dReal, dReal,
+                                            dReal )
+    void    dRFromEulerAngles             ( dMatrix3, dReal, dReal, dReal )
+    void    dRFrom2Axes                   ( dMatrix3, dReal, dReal, dReal,
+                                            dReal, dReal, dReal )
+    void    dRFromZAxis                   ( dMatrix3, dReal, dReal, dReal )
+    void    dQSetIdentity                 ( dQuaternion )
+    void    dQFromAxisAndAngle            ( dQuaternion, dReal, dReal,
+                                            dReal, dReal )
+    void    dQMultiply0                   ( dQuaternion, dQuaternion,
+                                            dQuaternion )
+    void    dQMultiply1                   ( dQuaternion, dQuaternion,
+                                            dQuaternion )
+    void    dQMultiply2                   ( dQuaternion, dQuaternion,
+                                            dQuaternion )
+    void    dQMultiply3                   ( dQuaternion, dQuaternion,
+                                            dQuaternion )
+    void    dRfromQ                       ( dMatrix3, dQuaternion )
+    void    dQfromR                       ( dQuaternion, dMatrix3 )
+    void    dDQfromW                      ( dReal, dVector3, dQuaternion )
+    dWorldID dWorldCreate                 ( )
+    void    dWorldDestroy                 ( dWorldID )
+    void    dWorldSetGravity              ( dWorldID, dReal, dReal, dReal )
+    void    dWorldGetGravity              ( dWorldID, dVector3 )
+    void    dWorldSetERP                  ( dWorldID, dReal )
+    dReal   dWorldGetERP                  ( dWorldID )
+    void    dWorldSetCFM                  ( dWorldID, dReal )
+    dReal   dWorldGetCFM                  ( dWorldID )
+    void    dWorldStep                    ( dWorldID, dReal )
+    void    dWorldImpulseToForce          ( dWorldID, dReal, dReal, dReal,
+                                            dReal, dVector3 )
+    void    dWorldQuickStep               ( dWorldID, dReal )
+    void    dWorldSetQuickStepNumIterations ( dWorldID, int )
+    int     dWorldGetQuickStepNumIterations ( dWorldID )
+    void    dWorldSetQuickStepW           ( dWorldID, dReal )
+    dReal   dWorldGetQuickStepW           ( dWorldID )
+    void    dWorldSetContactMaxCorrectingVel ( dWorldID, dReal )
+    dReal   dWorldGetContactMaxCorrectingVel ( dWorldID )
+    void    dWorldSetContactSurfaceLayer  (dWorldID, dReal )
+    dReal   dWorldGetContactSurfaceLayer  ( dWorldID )
+    void    dWorldStepFast1               ( dWorldID, dReal, int )
+    void    dWorldSetAutoEnableDepthSF1   ( dWorldID, int )
+    int     dWorldGetAutoEnableDepthSF1   ( dWorldID )
+    dReal   dWorldGetAutoDisableLinearThreshold ( dWorldID )
+    void    dWorldSetAutoDisableLinearThreshold ( dWorldID, dReal )
+    dReal   dWorldGetAutoDisableAngularThreshold ( dWorldID )
+    void    dWorldSetAutoDisableAngularThreshold ( dWorldID, dReal )
+    dReal   dWorldGetAutoDisableLinearAverageThreshold ( dWorldID )
+    void    dWorldSetAutoDisableLinearAverageThreshold ( dWorldID, dReal )
+    dReal   dWorldGetAutoDisableAngularAverageThreshold ( dWorldID )
+    void    dWorldSetAutoDisableAngularAverageThreshold ( dWorldID, dReal )
+    int     dWorldGetAutoDisableAverageSamplesCount ( dWorldID )
+    void    dWorldSetAutoDisableAverageSamplesCount ( dWorldID, unsigned int )
+    int     dWorldGetAutoDisableSteps     ( dWorldID )
+    void    dWorldSetAutoDisableSteps     ( dWorldID, int )
+    dReal   dWorldGetAutoDisableTime      ( dWorldID )
+    void    dWorldSetAutoDisableTime      ( dWorldID, dReal )
+    int     dWorldGetAutoDisableFlag      ( dWorldID )
+    void    dWorldSetAutoDisableFlag      ( dWorldID, int )
+    dReal   dBodyGetAutoDisableLinearThreshold ( dBodyID )
+    void    dBodySetAutoDisableLinearThreshold ( dBodyID, dReal )
+    dReal   dBodyGetAutoDisableAngularThreshold ( dBodyID )
+    void    dBodySetAutoDisableAngularThreshold ( dBodyID, dReal )
+    int     dBodyGetAutoDisableAverageSamplesCount ( dBodyID )
+    void    dBodySetAutoDisableAverageSamplesCount ( dBodyID, unsigned int )
+    int     dBodyGetAutoDisableSteps      ( dBodyID )
+    void    dBodySetAutoDisableSteps      ( dBodyID, int )
+    dReal   dBodyGetAutoDisableTime       ( dBodyID )
+    void    dBodySetAutoDisableTime       ( dBodyID, dReal )
+    int     dBodyGetAutoDisableFlag       ( dBodyID )
+    void    dBodySetAutoDisableFlag       ( dBodyID, int )
+    void    dBodySetAutoDisableDefaults   ( dBodyID )
+    dWorldID dBodyGetWorld                ( dBodyID )
+    dBodyID dBodyCreate                   ( dWorldID )
+    void    dBodyDestroy                  ( dBodyID )
+    void    dBodySetData                  ( dBodyID, void* )
+    void*   dBodyGetData                  ( dBodyID )
+    void    dBodySetPosition              ( dBodyID, dReal, dReal, dReal )
+    void    dBodySetRotation              ( dBodyID, dMatrix3 )
+    void    dBodySetQuaternion            ( dBodyID, dQuaternion )
+    void    dBodySetLinearVel             ( dBodyID, dReal, dReal, dReal )
+    void    dBodySetAngularVel            ( dBodyID, dReal, dReal, dReal )
+    dReal*  dBodyGetPosition              ( dBodyID )
+    void    dBodyCopyPosition             ( dBodyID, dVector3 )
+    dReal*  dBodyGetRotation              ( dBodyID )
+    void    dBodyCopyRotation             ( dBodyID, dMatrix3 )
+    dReal*  dBodyGetQuaternion            ( dBodyID )
+    void    dBodyCopyQuaternion           ( dBodyID, dQuaternion )
+    dReal*  dBodyGetLinearVel             ( dBodyID )
+    dReal*  dBodyGetAngularVel            ( dBodyID )
+    void    dBodySetMass                  ( dBodyID, dMass* )
+    void    dBodyGetMass                  ( dBodyID, dMass* )
+    void    dBodyAddForce                 ( dBodyID, dReal, dReal, dReal )
+    void    dBodyAddTorque                ( dBodyID, dReal, dReal, dReal )
+    void    dBodyAddRelForce              ( dBodyID, dReal, dReal, dReal )
+    void    dBodyAddRelTorque             ( dBodyID, dReal, dReal, dReal )
+    void    dBodyAddForceAtPos            ( dBodyID, dReal, dReal, dReal )
+    void    dBodyAddForceAtRelPos         ( dBodyID, dReal, dReal, dReal,
+                                            dReal, dReal, dReal )
+    void    dBodyAddRelForceAtPos         ( dBodyID, dReal, dReal, dReal )
+    void    dBodyAddRelForceAtRelPos      ( dBodyID, dReal, dReal, dReal )
+    dReal*  dBodyGetForce                 ( dBodyID )
+    void    dBodySetForce                 ( dBodyID, dReal, dReal, dReal )
+    void    dBodySetTorque                ( dBodyID, dReal, dReal, dReal )
+    void    dBodyGetRelPointPos           ( dBodyID, dReal, dReal, dReal,
+                                            dVector3 )
+    void    dBodyGetRelPointVel           ( dBodyID, dReal, dReal, dReal,
+                                            dVector3 )
+    void    dBodyGetPointVel              ( dBodyID, dReal, dReal, dReal,
+                                            dVector3 )
+    void    dBodyGetPosRelPoint           ( dBodyID, dReal, dReal, dReal,
+                                            dVector3 )
+    void    dBodyVectorToWorld            ( dBodyID, dReal, dReal, dReal,
+                                            dVector3 )
+    void    dBodyVectorFromWorld          ( dBodyID, dReal, dReal, dReal,
+                                            dVector3 )
+    void    dBodySetFiniteRotationMode    ( dBodyID, int )
+    void    dBodySetFiniteRotationAxis    ( dBodyID, dReal, dReal, dReal )
+    int     dBodyGetFiniteRotationMode    ( dBodyID )
+    void    dBodyGetFiniteRotationAxis    ( dBodyID, dVector3 )
+    int     dBodyGetNumJoints             ( dBodyID )
+    dJointID dBodyGetJoint                ( dBodyID, int )
+    void    dBodyEnable                   ( dBodyID )
+    void    dBodyDisable                  ( dBodyID )
+    int     dBodyIsEnabled                ( dBodyID )
+    void    dBodySetGravityMode           ( dBodyID, int )
+    int     dBodyGetGravityMode           ( dBodyID )
+    dJointID dJointCreateBall             ( dWorldID, dJointGroupID )
+    dJointID dJointCreateHinge            ( dWorldID, dJointGroupID )
+    dJointID dJointCreateSlider           ( dWorldID, dJointGroupID )
+    dJointID dJointCreateContact          ( dWorldID, dJointGroupID,
+                                            dContact* )
+    dJointID dJointCreateHinge2           ( dWorldID, dJointGroupID )
+    dJointID dJointCreateUniversal        ( dWorldID, dJointGroupID )
+    dJointID dJointCreatePR               ( dWorldID, dJointGroupID )
+    dJointID dJointCreateFixed            ( dWorldID, dJointGroupID )
+    dJointID dJointCreateNull             ( dWorldID, dJointGroupID )
+    dJointID dJointCreateAMotor           ( dWorldID, dJointGroupID )
+    dJointID dJointCreateLMotor           ( dWorldID, dJointGroupID )
+    dJointID dJointCreatePlane2D          ( dWorldID, dJointGroupID )
+    void    dJointDestroy                 ( dJointID )
+    dJointGroupID dJointGroupCreate       ( int )
+    void    dJointGroupDestroy            ( dJointGroupID )
+    void    dJointGroupEmpty              ( dJointGroupID )
+    void    dJointAttach                  ( dJointID, dBodyID, dBodyID )
+    void    dJointSetData                 ( dJointID, void* )
+    void*   dJointGetData                 ( dJointID )
+    int     dJointGetType                 ( dJointID )
+    dBodyID dJointGetBody                 ( dJointID, int )
+    void    dJointSetFeedback             ( dJointID, dJointFeedback* )
+    dJointFeedback* dJointGetFeedback     ( dJointID )
+    void    dJointSetBallAnchor           ( dJointID, dReal, dReal, dReal )
+    void    dJointSetBallAnchor2          ( dJointID, dReal, dReal, dReal )
+    void    dJointSetBallParam            ( dJointID, int, dReal )
+    void    dJointSetHingeAnchor          ( dJointID, dReal, dReal, dReal )
+    void    dJointSetHingeAnchorDelta     ( dJointID, dReal, dReal, dReal,
+                                            dReal, dReal, dReal )
+    void    dJointSetHingeAxis            ( dJointID, dReal, dReal, dReal )
+    void    dJointSetHingeParam           ( dJointID, int, dReal )
+    void    dJointAddHingeTorque          ( dJointID, dReal )
+    void    dJointSetSliderAxis           ( dJointID, dReal, dReal, dReal )
+    void    dJointSetSliderAxisDelta      ( dJointID, dReal, dReal, dReal,
+                                            dReal, dReal, dReal )
+    void    dJointSetSliderParam          ( dJointID, int, dReal )
+    void    dJointAddSliderForce          ( dJointID, dReal )
+    void    dJointSetHinge2Anchor         ( dJointID, dReal, dReal, dReal )
+    void    dJointSetHinge2Axis1          ( dJointID, dReal, dReal, dReal )
+    void    dJointSetHinge2Axis2          ( dJointID, dReal, dReal, dReal )
+    void    dJointSetHinge2Param          ( dJointID, int, dReal )
+    void    dJointAddHinge2Torques        ( dJointID, dReal, dReal )
+    void    dJointSetUniversalAnchor      ( dJointID, dReal, dReal, dReal )
+    void    dJointSetUniversalAxis1       ( dJointID, dReal, dReal, dReal )
+    void    dJointSetUniversalAxis2       ( dJointID, dReal, dReal, dReal )
+    void    dJointSetUniversalParam       ( dJointID, int, dReal )
+    void    dJointAddUniversalTorques     ( dJointID, dReal, dReal )
+    void    dJointSetPRAnchor             ( dJointID, dReal, dReal, dReal )
+    void    dJointSetPRAxis1              ( dJointID, dReal, dReal, dReal )
+    void    dJointSetPRAxis2              ( dJointID, dReal, dReal, dReal )
+    void    dJointSetPRParam              ( dJointID, int, dReal )
+    void    dJointAddPRTorque             ( dJointID, dReal )
+    void    dJointSetFixed                ( dJointID )
+    void    dJointSetFixedParam           ( dJointID, int, dReal )
+    void    dJointSetAMotorNumAxes        ( dJointID, int )
+    void    dJointSetAMotorAxis           ( dJointID, int, int, dReal, dReal,
+                                            dReal )
+    void    dJointSetAMotorAngle          ( dJointID, int, dReal )
+    void    dJointSetAMotorParam          ( dJointID, int, dReal )
+    void    dJointSetAMotorMode           ( dJointID, int )
+    void    dJointAddAMotorTorques        ( dJointID, dReal, dReal, dReal )
+    void    dJointSetLMotorNumAxes        ( dJointID, int )
+    void    dJointSetLMotorAxis           ( dJointID, int, int, dReal, dReal,
+                                            dReal )
+    void    dJointSetLMotorParam          ( dJointID, int, dReal )
+    void    dJointSetPlane2DXParam        ( dJointID, int, dReal )
+    void    dJointSetPlane2DYParam        ( dJointID, int, dReal )
+    void    dJointSetPlane2DAngleParam    ( dJointID, int, dReal )
+    void    dJointGetBallAnchor           ( dJointID, dVector3 )
+    void    dJointGetBallAnchor2          ( dJointID, dVector3 )
+    dReal   dJointGetBallParam            ( dJointID, int )
+    void    dJointGetHingeAnchor          ( dJointID, dVector3 )
+    void    dJointGetHingeAnchor2         ( dJointID, dVector3 )
+    void    dJointGetHingeAxis            ( dJointID, dVector3 )
+    dReal   dJointGetHingeParam           ( dJointID, int )
+    dReal   dJointGetHingeAngle           ( dJointID )
+    dReal   dJointGetHingeAngleRate       ( dJointID )
+    dReal   dJointGetSliderPosition       ( dJointID )
+    dReal   dJointGetSliderPositionRate   ( dJointID )
+    void    dJointGetSliderAxis           ( dJointID, dVector3 )
+    dReal   dJointGetSliderParam          ( dJointID, int)
+    void    dJointGetHinge2Anchor         ( dJointID, dVector3 )
+    void    dJointGetHinge2Anchor2        ( dJointID, dVector3 )
+    void    dJointGetHinge2Axis1          ( dJointID, dVector3 )
+    void    dJointGetHinge2Axis2          ( dJointID, dVector3 )
+    dReal   dJointGetHinge2Param          ( dJointID, int )
+    dReal   dJointGetHinge2Angle1         ( dJointID )
+    dReal   dJointGetHinge2Angle1Rate     ( dJointID )
+    dReal   dJointGetHinge2Angle2Rate     ( dJointID )
+    void    dJointGetUniversalAnchor      ( dJointID, dVector3 )
+    void    dJointGetUniversalAnchor2     ( dJointID, dVector3 )
+    void    dJointGetUniversalAxis1       ( dJointID, dVector3 )
+    void    dJointGetUniversalAxis2       ( dJointID, dVector3 )
+    dReal   dJointGetUniversalParam       ( dJointID, int )
+    void    dJointGetUniversalAngles      ( dJointID, dReal*, dReal* )
+    dReal   dJointGetUniversalAngle1      ( dJointID )
+    dReal   dJointGetUniversalAngle2      ( dJointID )
+    dReal   dJointGetUniversalAngle1Rate  ( dJointID )
+    dReal   dJointGetUniversalAngle2Rate  ( dJointID )
+    void    dJointGetPRAnchor             ( dJointID, dVector3 )
+    dReal   dJointGetPRPosition           ( dJointID )
+    dReal   dJointGetPRPositionRate       ( dJointID )
+    void    dJointGetPRAxis1              ( dJointID, dVector3 )
+    void    dJointGetPRAxis2              ( dJointID, dVector3 )
+    dReal   dJointGetPRParam              ( dJointID, int )
+    int     dJointGetAMotorNumAxes        ( dJointID )
+    void    dJointGetAMotorAxis           ( dJointID, int, dVector3 )
+    int     dJointGetAMotorAxisRel        ( dJointID, int )
+    dReal   dJointGetAMotorAngle          ( dJointID, int )
+    dReal   dJointGetAMotorAngleRate      ( dJointID, int )
+    dReal   dJointGetAMotorParam          ( dJointID, int )
+    int     dJointGetAMotorMode           ( dJointID )
+    int     dJointGetLMotorNumAxes        ( dJointID )
+    void    dJointGetLMotorAxis           ( dJointID, int, dVector3 )
+    dReal   dJointGetLMotorParam          ( dJointID, int )
+    dReal   dJointGetFixedParam           ( dJointID, int )
+    dJointID dConnectingJoint             ( dBodyID, dBodyID )
+    int     dConnectingJointList          ( dBodyID, dBodyID, dJointID* )
+    int     dAreConnected                 ( dBodyID, dBodyID )
+    int     dAreConnectedExcluding        ( dBodyID, dBodyID, int )
+    void    dSetAllocHandler              ( dAllocFunction* )
+    void    dSetReallocHandler            ( dReallocFunction* )
+    void    dSetFreeHandler               ( dFreeFunction* )
+    dAllocFunction* dGetAllocHandler      ( )
+    dReallocFunction* dGetReallocHandler  ( )
+    dFreeFunction* dGetFreeHandler        ( )
+    void*   dAlloc                        ( size_t )
+    void*   dRealloc                      ( void*, size_t, size_t )
+    void    dFree                         ( void*, size_t )
+    void    dWorldExportDIF               ( dWorldID, void*, char* )
+    int     dTestRand                     ( )
+    unsigned long dRand                   ( )
+    unsigned long  dRandGetSeed           ( )
+    void    dRandSetSeed                  ( unsigned long )
+    int     dRandInt                      ( int )
+    dReal   dRandReal                     ( )
+    void    dPrintMatrix                  ( dReal*, int, int, char*, void* )
+    void    dMakeRandomVector             ( dReal*, int, dReal )
+    void    dMakeRandomMatrix             ( dReal*, int, int, dReal )
+    void    dClearUpperTriangle           ( dReal*, int )
+    dReal   dMaxDifference                ( dReal*, dReal*, int, int )
+    dReal   dMaxDifferenceLowerTriangle   ( dReal*, dReal*, int )
+    void    dSetZero                      ( dReal*, int )
+    void    dSetValue                     ( dReal*, int, dReal )
+    dReal   dDot                          ( dReal*, dReal*, int )
+    void    dMultiply0                    ( dReal*, dReal*, dReal*, int, int,
+                                             int )
+    void    dMultiply1                    ( dReal*, dReal*, dReal*, int, int,
+                                            int )
+    void    dMultiply2                    ( dReal*, dReal*, dReal*, int, int,
+                                            int )
+    int     dFactorCholesky               ( dReal*, int )
+    void    dSolveCholesky                ( dReal*, dReal*, int )
+    int     dInvertPDMatrix               ( dReal*, dReal*, int )
+    int     dIsPositiveDefinite           ( dReal*, int )
+    void    dFactorLDLT                   ( dReal*, dReal*, int, int )
+    void    dSolveL1                      ( dReal*, dReal*, int, int )
+    void    dSolveL1T                     ( dReal*, dReal*, int, int )
+    void    dVectorScale                  ( dReal*, dReal*, int )
+    void    dSolveLDLT                    ( dReal*, dReal*, dReal*, int, int )
+    void    dLDLTAddTL                    ( dReal*, dReal*, dReal*, int, int )
+    void    dLDLTRemove                   ( dReal**, int*, dReal*, dReal*, int,
+                                            int, int, int )
+    void    dRemoveRowCol                 ( dReal*, int, int, int )
+    dReal   dDISTANCE                     ( dVector3, dVector3 )

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