C# dReal类代码示例

		public extern static dGeomID dCreateSphere( dSpaceID space, dReal radius );

		public extern static void dQFromAxisAndAngle( out dQuaternion q, dReal ax, dReal ay, dReal az, dReal angle );

			/// <summary>
			///
			/// </summary>
			/// <param name="x"></param>
			/// <param name="y"></param>
			/// <param name="z"></param>
			/// <param name="w"></param>
			public dVector4( dReal x, dReal y, dReal z, dReal w )
			{
				X = x;
				Y = y;
				Z = z;
				W = w;
			}

		public extern static void dRFromEulerAngles( out dMatrix3 R, dReal phi, dReal theta, dReal psi );

		public extern static void dRFromZAxis( dReal[] R, dReal ax, dReal ay, dReal az );

			/// <summary>
			///
			/// </summary>
			/// <param name="_mass"></param>
			/// <param name="_c"></param>
			/// <param name="_I"></param>
			public dMass( dReal _mass, dVector3 _c, dMatrix3 _I )
			{
				mass = _mass;
				c = _c;
				I = _I;
			}

		public extern static void dGeomTriMeshGetPoint( dGeomID g, int Index, dReal u, dReal v, ref dVector3 Out );

		public extern static dGeomID dCreatePlane( dSpaceID space, dReal a, dReal b, dReal c, dReal d );

		public extern static void dGeomPlaneSetParams( dGeomID plane, dReal a, dReal b, dReal c, dReal d );

		public extern static void dGeomBoxSetLengths( dGeomID box, dReal lx, dReal ly, dReal lz );

		public extern static dReal dGeomBoxPointDepth( dGeomID box, dReal x, dReal y, dReal z );

		public extern static dGeomID dCreateBox( dSpaceID space, dReal lx, dReal ly, dReal lz );

		public extern static dReal dGeomSpherePointDepth( dGeomID sphere, dReal x, dReal y, dReal z );

		public extern static void dGeomSphereSetRadius( dGeomID sphere, dReal radius );

		public extern static void dGeomRaySetLength( dGeomID ray, dReal length );