/* Copyright (c) <2003-2011> * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages * arising from the use of this software. * * Permission is granted to anyone to use this software for any purpose, * including commercial applications, and to alter it and redistribute it * freely, subject to the following restrictions: * * 1. The origin of this software must not be misrepresented; you must not * claim that you wrote the original software. If you use this software * in a product, an acknowledgment in the product documentation would be * appreciated but is not required. * * 2. Altered source versions must be plainly marked as such, and must not be * misrepresented as being the original software. * * 3. This notice may not be removed or altered from any source distribution. */ #import #define NEWTON_MAJOR_VERSION 2 #define NEWTON_MINOR_VERSION 30 #define NEWTON_PROFILER_WORLD_UPDATE 0 #define NEWTON_PROFILER_COLLISION_UPDATE 1 #define NEWTON_PROFILER_FORCE_CALLBACK_UPDATE 2 #define NEWTON_PROFILER_COLLISION_UPDATE_BROAD_PHASE 3 #define NEWTON_PROFILER_COLLISION_UPDATE_NARROW_PHASE 4 #define NEWTON_PROFILER_DYNAMICS_UPDATE 5 #define NEWTON_PROFILER_DYNAMICS_CONSTRAINT_GRAPH 6 #define NEWTON_PROFILER_DYNAMICS_SOLVE_CONSTRAINT_GRAPH 7 #define SERIALIZE_ID_BOX 0 #define SERIALIZE_ID_CONE 1 #define SERIALIZE_ID_SPHERE 2 #define SERIALIZE_ID_CAPSULE 3 #define SERIALIZE_ID_CYLINDER 4 #define SERIALIZE_ID_COMPOUND 5 #define SERIALIZE_ID_CONVEXHULL 6 #define SERIALIZE_ID_CONVEXMODIFIER 7 #define SERIALIZE_ID_CHAMFERCYLINDER 8 #define SERIALIZE_ID_TREE 9 #define SERIALIZE_ID_NULL 10 #define SERIALIZE_ID_HEIGHTFIELD 11 #define SERIALIZE_ID_USERMESH 12 #define SERIALIZE_ID_SCENE 13 #define SERIALIZE_ID_COMPOUND_BREAKABLE 14 typedef struct iNewtonMesh{} iNewtonMesh; typedef struct iNewtonBody{} iNewtonBody; typedef struct iNewtonWorld{} iNewtonWorld; typedef struct iNewtonJoint{} iNewtonJoint; typedef struct iNewtonMaterial{} iNewtonMaterial; typedef struct iNewtonCollision{} iNewtonCollision; typedef struct iNewtonSceneProxy{} iNewtonSceneProxy; typedef struct iNewtonbreakableComponentMesh{} iNewtonbreakableComponentMesh; typedef struct iNewtonUserJoint{} iNewtonUserJoint; struct iNewtonCollisionInfoRecord { float m_offsetMatrix[4][4]; int m_collisionType; int m_referenceCount; int m_collisionUserID; struct iNewtonBoxParam { float m_x; float m_y; float m_z; }; struct iNewtonSphereParam { float m_r0; float m_r1; float m_r2; }; struct iNewtonCylinderParam { float m_r0; float m_r1; float m_height; }; struct iNewtonCapsuleParam { float m_r0; float m_r1; float m_height; }; struct iNewtonConeParam { float m_r; float m_height; }; struct iNewtonChamferCylinderParam { float m_r; float m_height; }; struct iNewtonConvexHullParam { int m_vertexCount; int m_vertexStrideInBytes; int m_faceCount; float* m_vertex; }; struct iNewtonConvexHullModifierParam { struct iNewtonCollision* m_chidren; }; struct iNewtonCompoundCollisionParam { int m_chidrenCount; struct iNewtonCollision** m_chidren; }; struct iNewtonCollisionTreeParam { int m_vertexCount; int m_indexCount; }; struct iNewtonHeightFieldCollisionParam { int m_width; int m_height; int m_gridsDiagonals; float m_horizonalScale; float m_verticalScale; unsigned short* m_elevation; char* m_atributes; }; struct iNewtonSceneCollisionParam { int m_childrenProxyCount; }; union { struct iNewtonBoxParam m_box; struct iNewtonConeParam m_cone; struct iNewtonSphereParam m_sphere; struct iNewtonCapsuleParam m_capsule; struct iNewtonCylinderParam m_cylinder; struct iNewtonChamferCylinderParam m_chamferCylinder; struct iNewtonConvexHullParam m_convexHull; struct iNewtonCompoundCollisionParam m_compoundCollision; struct iNewtonConvexHullModifierParam m_convexHullModifier; struct iNewtonCollisionTreeParam m_collisionTree; struct iNewtonHeightFieldCollisionParam m_heightField; struct iNewtonSceneCollisionParam m_sceneCollision; float m_paramArray[64]; }; }; struct iNewtonJointRecord { float m_attachmenMatrix_0[4][4]; float m_attachmenMatrix_1[4][4]; float m_minLinearDof[3]; float m_maxLinearDof[3]; float m_minAngularDof[3]; float m_maxAngularDof[3]; const struct iNewtonBody* m_attachBody_0; const struct iNewtonBody* m_attachBody_1; float m_extraParameters[16]; int m_bodiesCollisionOn; char m_descriptionType[32]; }; struct iNewtonUserMeshCollisionCollideDesc { float m_boxP0[4]; float m_boxP1[4]; int m_threadNumber; int m_faceCount; int m_vertexStrideInBytes; void* m_userData; float* m_vertex; int* m_userAttribute; int* m_faceIndexCount; int* m_faceVertexIndex; struct iNewtonBody* m_objBody; struct iNewtonBody* m_polySoupBody; }; struct iNewtonWorldConvexCastReturnInfo { float m_point[4]; float m_normal[4]; float m_normalOnHitPoint[4]; float m_penetration; int m_contactID; const struct iNewtonBody* m_hitBody; }; struct iNewtonUserMeshCollisionRayHitDesc { float m_p0[4]; float m_p1[4]; float m_normalOut[4]; int m_userIdOut; void* m_userData; }; typedef void* (*iNewtonAllocMemory) (int sizeInBytes); typedef void (*iNewtonFreeMemory) (void* ptr, int sizeInBytes); typedef void (*iNewtonDestroyWorld) (const struct iNewtonWorld* newtonWorld); typedef unsigned (*iNewtonGetTicksCountCallback) (); typedef void (*iNewtonSerialize) (void* serializeHandle, const void* buffer, int size); typedef void (*iNewtonDeserialize) (void* serializeHandle, void* buffer, int size); typedef void (*iNewtonUserMeshCollisionDestroyCallback) (void* userData); typedef void (*iNewtonUserMeshCollisionCollideCallback) (struct iNewtonUserMeshCollisionCollideDesc* collideDescData); typedef float (*iNewtonUserMeshCollisionRayHitCallback) (struct iNewtonUserMeshCollisionRayHitDesc* lineDescData); typedef void (*iNewtonUserMeshCollisionGetCollisionInfo) (void* userData, struct iNewtonCollisionInfoRecord* infoRecord); typedef int (*iNewtonUserMeshCollisionGetFacesInAABB) (void* userData, const float* p0, const float* p1, const float** vertexArray, int* vertexCount, int* vertexStrideInBytes, const int* indexList, int maxIndexCount, const int* userDataList); typedef float (*iNewtonCollisionTreeRayCastCallback) (const struct iNewtonBody* const body, const struct iNewtonCollision* const treeCollision, float interception, float* normal, int faceId, void* usedData); typedef float (*iNewtonHeightFieldRayCastCallback) (const struct iNewtonBody* const body, const struct iNewtonCollision* const heightFieldCollision, float interception, int row, int col, float* normal, int faceId, void* usedData); typedef void (*iNewtonTreeCollisionCallback) (const struct iNewtonBody* bodyWithTreeCollision, const struct iNewtonBody* body, int faceID, int vertexCount, const float* vertex, int vertexStrideInBytes); typedef void (*iNewtonBodyDestructor) (const struct iNewtonBody* body); typedef void (*iNewtonApplyForceAndTorque) (const struct iNewtonBody* body, float timestep, int threadIndex); typedef void (*iNewtonSetTransform) (const struct iNewtonBody* body, const float* matrix, int threadIndex); typedef int (*iNewtonIslandUpdate) (const struct iNewtonWorld* world, const void* islandHandle, int bodyCount); typedef void (*iNewtonBodyLeaveWorld) (const struct iNewtonBody* body, int threadIndex); typedef void (*iNewtonDestroyBodyByExeciveForce) (const struct iNewtonBody* body, const struct iNewtonJoint* contact); typedef void (*iNewtonCollisionDestructor) (const struct iNewtonWorld* world, const struct iNewtonCollision* collision); typedef int (*iNewtonCollisionCompoundBreakableCallback) (struct iNewtonMesh* const mesh, void* userData, float* planeMatrixOut); typedef int (*iNewtonGetBuoyancyPlane) (const int collisionID, void* context, const float* globalSpaceMatrix, float* globalSpacePlane); typedef unsigned (*iNewtonWorldRayPrefilterCallback) (const struct iNewtonBody* body, const struct iNewtonCollision* collision, void* userData); typedef float (*iNewtonWorldRayFilterCallback) (const struct iNewtonBody* body, const float* hitNormal, int collisionID, void* userData, float intersectParam); typedef int (*iNewtonOnAABBOverlap) (const struct iNewtonMaterial* material, const struct iNewtonBody* body0, const struct iNewtonBody* body1, int threadIndex); typedef void (*iNewtonContactsProcess) (const struct iNewtonJoint* contact, float timestep, int threadIndex); typedef void (*iNewtonBodyIterator) (const struct iNewtonBody* body, void* userData); typedef void (*iNewtonJointIterator) (const struct iNewtonJoint* joint, void* userData); typedef void (*iNewtonCollisionIterator) (void* userData, int vertexCount, const float* faceArray, int faceId); typedef void (*iNewtonUserBilateralCallBack) (const struct iNewtonJoint* userJoint, float timestep, int threadIndex); typedef void (*iNewtonUserBilateralGetInfoCallBack) (const struct iNewtonJoint* userJoint, struct iNewtonJointRecord* info); typedef void (*iNewtonConstraintDestructor) (const struct iNewtonJoint* me); typedef void (*iNewtonUserJointDestructorCallback) (const struct iNewtonUserJoint* me); typedef void (*iNewtonUserJointSubmitConstraintCallback) (const struct iNewtonUserJoint* me, float timestep, int threadIndex); typedef void (*iBlankJointGetInfo) (const struct iNewtonUserJoint* me, struct iNewtonJointRecord* info); typedef void (*iDGRaycastVehicleTireTransformCallback) (struct iNewtonUserJoint* car); @interface iNewton : NSObject { void* m_world; } -(id) init; -(id) initWithAllocator: (iNewtonAllocMemory) allocator: (iNewtonFreeMemory) deallocator; -(void) dealloc; -(int) WorldGetVersion; -(int) WorldFloatSize; -(int) GetMemoryUsed; -(void) SetMemorySystem: (iNewtonAllocMemory) malloc: (iNewtonFreeMemory) mfree; -(struct iNewtonWorld*) Create; -(void) DestroyAllBodies; -(void) Update: (float) timestep; -(void) InvalidateCache; -(void) CollisionUpdate; -(void) SetSolverModel: (int) model; -(void) SetPlatformArchitecture: (int) mode; -(int) GetPlatformArchitecture: (char*) description; -(void) SetMultiThreadSolverOnSingleIsland: (int) mode; -(int) GetMultiThreadSolverOnSingleIsland; -(void) SetPerformanceClock: (iNewtonGetTicksCountCallback) callback; -(unsigned) ReadPerformanceTicks: (unsigned) performanceEntry; -(unsigned) ReadThreadPerformanceTicks: (unsigned) threadIndex; -(void) WorldCriticalSectionLock; -(void) WorldCriticalSectionUnlock; -(void) SetThreadsCount: (int) threads; -(int) GetThreadsCount; -(int) GetMaxThreadsCount; -(void) SetFrictionModel: (int) model; -(void) SetMinimumFrameRate: (float) frameRate; -(void) SetBodyLeaveWorldEvent: (iNewtonBodyLeaveWorld) callback; -(void) SetWorldSize: (const float*) minPoint: (const float*) maxPoint; -(void) SetIslandUpdateEvent: (iNewtonIslandUpdate) islandUpdate; -(void) SetCollisionDestructor: (iNewtonCollisionDestructor) callback; -(void) SetDestroyBodyByExeciveForce: (iNewtonDestroyBodyByExeciveForce) callback; -(void) WorldForEachJointDo: (iNewtonJointIterator) callback: (void*) userData; -(void) WorldForEachBodyInAABBDo: (const float*) p0: (const float*) p1: (iNewtonBodyIterator) callback: (void*) userData; -(void) WorldSetUserData: (void*) userData; -(void*) WorldGetUserData; -(void) WorldSetDestructorCallBack: (iNewtonDestroyWorld) destructor; -(iNewtonDestroyWorld) WorldGetDestructorCallBack; -(void) WorldRayCast: (const float*) p0: (const float*) p1: (iNewtonWorldRayFilterCallback) filter: (void*) userData: (iNewtonWorldRayPrefilterCallback) prefilter; -(int) WorldConvexCast: (const float*) matrix: (const float*) target: (const struct iNewtonCollision*) shape: (float*) hitParam: (void*) userData: (iNewtonWorldRayPrefilterCallback) prefilter: (struct iNewtonWorldConvexCastReturnInfo*) info: (int) maxContactsCount: (int) threadIndex; -(int) WorldGetBodyCount; -(int) WorldGetConstraintCount; -(struct iNewtonBody*) IslandGetBody: (const void*) island: (int) bodyIndex; -(void) IslandGetBodyAABB: (const void*) island: (int) bodyIndex: (const float*) p0: (const float*) p1; -(int) MaterialCreateGroupID; -(int) MaterialGetDefaultGroupID; -(void) MaterialDestroyAllGroupID; -(void*) MaterialGetUserData: (int) id0: (int) id1; -(void) MaterialSetSurfaceThickness: (int) id0: (int) id1: (float) thickness; -(void) MaterialSetContinuousCollisionMode: (int) id0: (int) id1: (int) state; -(void) MaterialSetCollisionCallback: (int) id0: (int) id1: (void*) userData: (iNewtonOnAABBOverlap) aabbOverlap: (iNewtonContactsProcess) process; -(void) MaterialSetDefaultSoftness: (int) id0: (int) id1: (float) value; -(void) MaterialSetDefaultElasticity: (int) id0: (int) id1: (float) elasticCoef; -(void) MaterialSetDefaultCollidable: (int) id0: (int) id1: (int) state; -(void) MaterialSetDefaultFriction: (int) id0: (int) id1: (float) staticFriction: (float) kineticFriction; -(struct iNewtonMaterial*) WorldGetFirstMaterial; -(struct iNewtonMaterial*) WorldGetNextMaterial: (const struct iNewtonMaterial*) material; -(struct iNewtonBody*) WorldGetFirstBody; -(struct iNewtonBody*) WorldGetNextBody: (const struct iNewtonBody*) curBody; -(void*) MaterialGetMaterialPairUserData: (const struct iNewtonMaterial*) material; -(unsigned) MaterialGetContactFaceAttribute: (const struct iNewtonMaterial*) material; -(unsigned) MaterialGetBodyCollisionID: (const struct iNewtonMaterial*) material: (const struct iNewtonBody*) body; -(float) MaterialGetContactNormalSpeed: (const struct iNewtonMaterial*) material; -(void) MaterialGetContactForce: (const struct iNewtonMaterial*) material: (float*) force; -(void) MaterialGetContactPositionAndNormal: (const struct iNewtonMaterial*) material: (float*) posit: (float*) normal; -(void) MaterialGetContactTangentDirections: (const struct iNewtonMaterial*) material: (float*) dir0: (float*) dir1; -(float) MaterialGetContactTangentSpeed: (const struct iNewtonMaterial*) material: (int) index; -(void) MaterialSetContactSoftness: (const struct iNewtonMaterial*) material: (float) softness; -(void) MaterialSetContactElasticity: (const struct iNewtonMaterial*) material: (float) restitution; -(void) MaterialSetContactFrictionState: (const struct iNewtonMaterial*) material: (int) state: (int) index; -(void) MaterialSetContactFrictionCoef: (const struct iNewtonMaterial*) material: (float) staticFrictionCoef: (float) kineticFrictionCoef: (int) index; -(void) MaterialSetContactNormalAcceleration: (const struct iNewtonMaterial*) material: (float) accel; -(void) MaterialSetContactNormalDirection: (const struct iNewtonMaterial*) material: (const float*) directionVector; -(void) MaterialSetContactTangentAcceleration: (const struct iNewtonMaterial*) material: (float) accel: (int) index; -(void) MaterialContactRotateTangentDirections: (const struct iNewtonMaterial*) material: (const float*) directionVector; -(struct iNewtonCollision*) CreateNull; -(struct iNewtonCollision*) CreateSphere: (float) radiusX: (float) radiusY: (float) radiusZ: (int) shapeID: (const float*) offsetMatrix; -(struct iNewtonCollision*) CreateBox: (float) dx: (float) dy: (float) dz: (int) shapeID: (const float*) offsetMatrix; -(struct iNewtonCollision*) CreateCone: (float) radius: (float) height: (int) shapeID: (const float*) offsetMatrix; -(struct iNewtonCollision*) CreateCapsule: (float) radius: (float) height: (int) shapeID: (const float*) offsetMatrix; -(struct iNewtonCollision*) CreateCylinder: (float) radius: (float) height: (int) shapeID: (const float*) offsetMatrix; -(struct iNewtonCollision*) CreateChamferCylinder: (float) radius: (float) height: (int) shapeID: (const float*) offsetMatrix; -(struct iNewtonCollision*) CreateConvexHull: (int) count: (const float*) vertexCloud: (int) strideInBytes: (float) tolerance: (int) shapeID: (const float*) offsetMatrix; -(struct iNewtonCollision*) CreateConvexHullFromMesh: (const struct iNewtonMesh*) mesh: (float) tolerance: (int) shapeID; -(struct iNewtonCollision*) CreateConvexHullModifier: (const struct iNewtonCollision*) convexHullCollision: (int) shapeID; -(void) ConvexHullModifierGetMatrix: (const struct iNewtonCollision*) convexHullCollision: (float*) matrix; -(void) ConvexHullModifierSetMatrix: (const struct iNewtonCollision*) convexHullCollision: (const float*) matrix; -(int) CollisionIsTriggerVolume: (const struct iNewtonCollision*) convexCollision; -(void) CollisionSetAsTriggerVolume: (const struct iNewtonCollision*) convexCollision: (int) trigger; -(void) CollisionSetMaxBreakImpactImpulse: (const struct iNewtonCollision*) convexHullCollision: (float) maxImpactImpulse; -(float) CollisionGetMaxBreakImpactImpulse: (const struct iNewtonCollision*) convexHullCollision; -(void) CollisionSetUserID: (const struct iNewtonCollision*) convexCollision: (unsigned) id; -(unsigned) CollisionGetUserID: (const struct iNewtonCollision*) convexCollision; -(int) ConvexHullGetFaceIndices: (const struct iNewtonCollision*) convexHullCollision: (int) face: (int*) faceIndices; -(float) ConvexCollisionCalculateVolume: (const struct iNewtonCollision*) convexCollision; -(void) ConvexCollisionCalculateInertialMatrix: (const struct iNewtonCollision*) convexCollision: (float*) inertia: (float*) origin; -(void) CollisionMakeUnique: (const struct iNewtonCollision*) collision; -(void) ReleaseCollision: (const struct iNewtonCollision*) collision; -(int) AddCollisionReference: (const struct iNewtonCollision*) collision; -(struct iNewtonCollision*) CreateCompoundCollision: (int) count: (struct iNewtonCollision* const*) collisionPrimitiveArray: (int) shapeID; -(struct iNewtonCollision*) CreateCompoundCollisionFromMesh: (const struct iNewtonMesh*) mesh: (int) maxSubShapesCount: (int) shapeID: (int) subShapeID; -(struct iNewtonCollision*) CreateCompoundBreakable: (int) meshCount: (const struct iNewtonMesh* const*) solids: (const int* const) shapeIDArray: (const float* const) densities: (const int* const) internalFaceMaterial: (int) shapeID: (int) debriID: (float) debriSeparationGap; -(void) CompoundBreakableResetAnchoredPieces: (const struct iNewtonCollision*) compoundBreakable; -(void) CompoundBreakableSetAnchoredPieces: (const struct iNewtonCollision*) compoundBreakable: (int) fixShapesCount: (float* const) matrixPallete: (struct iNewtonCollision**) fixedShapesArray; -(int) CompoundBreakableGetVertexCount: (const struct iNewtonCollision*) compoundBreakable; -(void) CompoundBreakableGetVertexStreams: (const struct iNewtonCollision*) compoundBreakable: (int) vertexStrideInByte: (float*) vertex: (int) normalStrideInByte: (float*) normal: (int) uvStrideInByte: (float*) uv; -(struct iNewtonbreakableComponentMesh*) BreakableGetMainMesh: (const struct iNewtonCollision*) compoundBreakable; -(struct iNewtonbreakableComponentMesh*) BreakableGetFirstComponent: (const struct iNewtonCollision*) compoundBreakable; -(struct iNewtonbreakableComponentMesh*) BreakableGetNextComponent: (const struct iNewtonbreakableComponentMesh*) component; -(void) BreakableBeginDelete: (const struct iNewtonCollision*) compoundBreakable; -(struct iNewtonBody*) BreakableCreateDebrieBody: (const struct iNewtonCollision*) compoundBreakable: (const struct iNewtonbreakableComponentMesh*) component; -(void) BreakableDeleteComponent: (const struct iNewtonCollision*) compoundBreakable: (const struct iNewtonbreakableComponentMesh*) component; -(void) BreakableEndDelete: (const struct iNewtonCollision*) compoundBreakable; -(int) BreakableGetComponentsInRadius: (const struct iNewtonCollision*) compoundBreakable: (const float*) position: (float) radius: (struct iNewtonbreakableComponentMesh**) segments: (int) maxCount; -(void*) BreakableGetFirstSegment: (const struct iNewtonbreakableComponentMesh*) breakableComponent; -(void*) BreakableGetNextSegment: (const void*) segment; -(int) BreakableSegmentGetMaterial: (const void*) segment; -(int) BreakableSegmentGetIndexCount: (const void*) segment; -(int) BreakableSegmentGetIndexStream: (const struct iNewtonCollision*) compoundBreakable: (const struct iNewtonbreakableComponentMesh*) meshOwner: (const void*) segment: (int*) index; -(int) BreakableSegmentGetIndexStreamShort: (const struct iNewtonCollision*) compoundBreakable: (const struct iNewtonbreakableComponentMesh*) meshOwner: (const void*) segment: (short int*) index; -(struct iNewtonCollision*) CreateUserMeshCollision: (const float*) minBox: (const float*) maxBox: (void*) userData: (iNewtonUserMeshCollisionCollideCallback) collideCallback: (iNewtonUserMeshCollisionRayHitCallback) rayHitCallback: (iNewtonUserMeshCollisionDestroyCallback) destroyCallback: (iNewtonUserMeshCollisionGetCollisionInfo) getInfoCallback: (iNewtonUserMeshCollisionGetFacesInAABB) facesInAABBCallback: (int) shapeID; -(struct iNewtonCollision*) CreateSceneCollision: (int) shapeID; -(struct iNewtonSceneProxy*) SceneCollisionCreateProxy: (struct iNewtonCollision*) scene: (struct iNewtonCollision*) collision; -(void) SceneCollisionDestroyProxy: (struct iNewtonCollision*) scene: (struct iNewtonSceneProxy*) Proxy; -(void) SceneProxySetMatrix: (struct iNewtonSceneProxy*) proxy: (const float*) matrix; -(void) SceneProxyGetMatrix: (struct iNewtonSceneProxy*) proxy: (float*) matrix; -(void) SceneCollisionOptimize: (struct iNewtonCollision*) scene; -(struct iNewtonCollision*) CreateCollisionFromSerialization: (iNewtonDeserialize) deserializeFunction: (void*) serializeHandle; -(void) CollisionSerialize: (const struct iNewtonCollision*) collision: (iNewtonSerialize) serializeFunction: (void*) serializeHandle; -(void) CollisionGetInfo: (const struct iNewtonCollision*) collision: (struct iNewtonCollisionInfoRecord*) collisionInfo; -(struct iNewtonCollision*) CreateHeightFieldCollision: (int) width: (int) height: (int) gridsDiagonals: (unsigned short*) elevationMap: (char*) attributeMap: (float) horizontalScale: (float) verticalScale: (int) shapeID; -(void) HeightFieldSetUserRayCastCallback: (const struct iNewtonCollision*) treeCollision: (iNewtonHeightFieldRayCastCallback) rayHitCallback; -(struct iNewtonCollision*) CreateTreeCollision: (int) shapeID; -(void) TreeCollisionSetUserRayCastCallback: (const struct iNewtonCollision*) treeCollision: (iNewtonCollisionTreeRayCastCallback) rayHitCallback; -(void) TreeCollisionBeginBuild: (const struct iNewtonCollision*) treeCollision; -(void) TreeCollisionAddFace: (const struct iNewtonCollision*) treeCollision: (int) vertexCount: (const float*) vertexPtr: (int) strideInBytes: (int) faceAttribute; -(void) TreeCollisionEndBuild: (const struct iNewtonCollision*) treeCollision: (int) optimize; -(int) TreeCollisionGetFaceAtribute: (const struct iNewtonCollision*) treeCollision: (const int*) faceIndexArray; -(void) TreeCollisionSetFaceAtribute: (const struct iNewtonCollision*) treeCollision: (const int*) faceIndexArray: (int) attribute; -(int) TreeCollisionGetVertexListIndexListInAABB: (const struct iNewtonCollision*) treeCollision: (const float*) p0: (const float*) p1: (const float**) vertexArray: (int*) vertexCount: (int*) vertexStrideInBytes: (const int*) indexList: (int) maxIndexCount: (const int*) faceAttribute; -(void) StaticCollisionSetDebugCallback: (const struct iNewtonCollision*) staticCollision: (iNewtonTreeCollisionCallback) userCallback; -(int) CollisionPointDistance: (const float*) point: (const struct iNewtonCollision*) collision: (const float*) matrix: (float*) contact: (float*) normal: (int) threadIndex; -(int) CollisionClosestPoint: (const struct iNewtonCollision*) collisionA: (const float*) matrixA: (const struct iNewtonCollision*) collisionB: (const float*) matrixB: (float*) contactA: (float*) contactB: (float*) normalAB: (int) threadIndex; -(int) CollisionCollide: (int) maxSize: (const struct iNewtonCollision*) collisionA: (const float*) matrixA: (const struct iNewtonCollision*) collisionB: (const float*) matrixB: (float*) contacts: (float*) normals: (float*) penetration: (int) threadIndex; -(int) CollisionCollideContinue: (int) maxSize: (const float) timestep: (const struct iNewtonCollision*) collisionA: (const float*) matrixA: (const float*) velocA: (const float*) omegaA: (const struct iNewtonCollision*) collisionB: (const float*) matrixB: (const float*) velocB: (const float*) omegaB: (float*) timeOfImpact: (float*) contacts: (float*) normals: (float*) penetration: (int) threadIndex; -(void) CollisionSupportVertex: (const struct iNewtonCollision*) collision: (const float*) dir: (float*) vertex; -(float) CollisionRayCast: (const struct iNewtonCollision*) collision: (const float*) p0: (const float*) p1: (float*) normals: (int*) attribute; -(void) CollisionCalculateAABB: (const struct iNewtonCollision*) collision: (const float*) matrix: (float*) p0: (float*) p1; -(void) CollisionForEachPolygonDo: (const struct iNewtonCollision*) collision: (const float*) matrix: (iNewtonCollisionIterator) callback: (void*) userData; -(void) GetEulerAngle: (const float*) matrix: (float*) eulersAngles; -(void) SetEulerAngle: (const float*) eulersAngles: (float*) matrix; -(float) CalculateSpringDamperAcceleration: (float) dt: (float) ks: (float) x: (float) kd: (float) s; -(struct iNewtonBody*) CreateBody: (const struct iNewtonCollision*) collision: (const float*) matrix; -(void) DestroyBody: (const struct iNewtonBody*) body; -(void) BodyAddForce: (const struct iNewtonBody*) body: (const float*) force; -(void) BodyAddTorque: (const struct iNewtonBody*) body: (const float*) torque; -(void) BodyCalculateInverseDynamicsForce: (const struct iNewtonBody*) body: (float) timestep: (const float*) desiredVeloc: (float*) forceOut; -(void) BodySetMatrix: (const struct iNewtonBody*) body: (const float*) matrix; -(void) BodySetMatrixRecursive: (const struct iNewtonBody*) body: (const float*) matrix; -(void) BodySetMassMatrix: (const struct iNewtonBody*) body: (float) mass: (float) Ixx: (float) Iyy: (float) Izz; -(void) BodySetMaterialGroupID: (const struct iNewtonBody*) body: (int) id; -(void) BodySetContinuousCollisionMode: (const struct iNewtonBody*) body: (unsigned) state; -(void) BodySetJointRecursiveCollision: (const struct iNewtonBody*) body: (unsigned) state; -(void) BodySetOmega: (const struct iNewtonBody*) body: (const float*) omega; -(void) BodySetVelocity: (const struct iNewtonBody*) body: (const float*) velocity; -(void) BodySetForce: (const struct iNewtonBody*) body: (const float*) force; -(void) BodySetTorque: (const struct iNewtonBody*) body: (const float*) torque; -(void) BodySetCentreOfMass: (const struct iNewtonBody*) body: (const float*) com; -(void) BodySetLinearDamping: (const struct iNewtonBody*) body: (float) linearDamp; -(void) BodySetAngularDamping: (const struct iNewtonBody*) body: (const float*) angularDamp; -(void) BodySetUserData: (const struct iNewtonBody*) body: (void*) userData; -(void) BodySetCollision: (const struct iNewtonBody*) body: (const struct iNewtonCollision*) collision; -(int) BodyGetSleepState: (const struct iNewtonBody*) body; -(int) BodyGetAutoSleep: (const struct iNewtonBody*) body; -(void) BodySetAutoSleep: (const struct iNewtonBody*) body: (int) state; -(int) BodyGetFreezeState: (const struct iNewtonBody*) body; -(void) BodySetFreezeState: (const struct iNewtonBody*) body: (int) state; -(void) BodySetDestructorCallback: (const struct iNewtonBody*) body: (iNewtonBodyDestructor) callback; -(void) BodySetTransformCallback: (const struct iNewtonBody*) body: (iNewtonSetTransform) callback; -(iNewtonSetTransform) BodyGetTransformCallback: (const struct iNewtonBody*) body; -(void) BodySetForceAndTorqueCallback: (const struct iNewtonBody*) body: (iNewtonApplyForceAndTorque) callback; -(iNewtonApplyForceAndTorque) BodyGetForceAndTorqueCallback: (const struct iNewtonBody*) body; -(void*) BodyGetUserData: (const struct iNewtonBody*) body; -(struct iNewtonWorld*) BodyGetWorld: (const struct iNewtonBody*) body; -(struct iNewtonCollision*) BodyGetCollision: (const struct iNewtonBody*) body; -(int) BodyGetMaterialGroupID: (const struct iNewtonBody*) body; -(int) BodyGetContinuousCollisionMode: (const struct iNewtonBody*) body; -(int) BodyGetJointRecursiveCollision: (const struct iNewtonBody*) body; -(void) BodyGetMatrix: (const struct iNewtonBody*) body: (float*) matrix; -(void) BodyGetRotation: (const struct iNewtonBody*) body: (float*) rotation; -(void) BodyGetMassMatrix: (const struct iNewtonBody*) body: (float*) mass: (float*) Ixx: (float*) Iyy: (float*) Izz; -(void) BodyGetInvMass: (const struct iNewtonBody*) body: (float*) invMass: (float*) invIxx: (float*) invIyy: (float*) invIzz; -(void) BodyGetOmega: (const struct iNewtonBody*) body: (float*) vector; -(void) BodyGetVelocity: (const struct iNewtonBody*) body: (float*) vector; -(void) BodyGetForce: (const struct iNewtonBody*) body: (float*) vector; -(void) BodyGetTorque: (const struct iNewtonBody*) body: (float*) vector; -(void) BodyGetForceAcc: (const struct iNewtonBody*) body: (float*) vector; -(void) BodyGetTorqueAcc: (const struct iNewtonBody*) body: (float*) vector; -(void) BodyGetCentreOfMass: (const struct iNewtonBody*) body: (float*) com; -(float) BodyGetLinearDamping: (const struct iNewtonBody*) body; -(void) BodyGetAngularDamping: (const struct iNewtonBody*) body: (float*) vector; -(void) BodyGetAABB: (const struct iNewtonBody*) body: (float*) p0: (float*) p1; -(struct iNewtonJoint*) BodyGetFirstJoint: (const struct iNewtonBody*) body; -(struct iNewtonJoint*) BodyGetNextJoint: (const struct iNewtonBody*) body: (const struct iNewtonJoint*) joint; -(struct iNewtonJoint*) BodyGetFirstContactJoint: (const struct iNewtonBody*) body; -(struct iNewtonJoint*) BodyGetNextContactJoint: (const struct iNewtonBody*) body: (const struct iNewtonJoint*) contactJoint; -(void*) ContactJointGetFirstContact: (const struct iNewtonJoint*) contactJoint; -(void*) ContactJointGetNextContact: (const struct iNewtonJoint*) contactJoint: (void*) contact; -(int) ContactJointGetContactCount: (const struct iNewtonJoint*) contactJoint; -(void) ContactJointRemoveContact: (const struct iNewtonJoint*) contactJoint: (void*) contact; -(struct iNewtonMaterial*) ContactGetMaterial: (const void*) contact; -(void) BodyAddBuoyancyForce: (const struct iNewtonBody*) body: (float) fluidDensity: (float) fluidLinearViscosity: (float) fluidAngularViscosity: (const float*) gravityVector: (iNewtonGetBuoyancyPlane) buoyancyPlane: (void*) context; -(void) BodyAddImpulse: (const struct iNewtonBody*) body: (const float*) pointDeltaVeloc: (const float*) pointPosit; -(void*) JointGetUserData: (const struct iNewtonJoint*) joint; -(void) JointSetUserData: (const struct iNewtonJoint*) joint: (void*) userData; -(struct iNewtonBody*) JointGetBody0: (const struct iNewtonJoint*) joint; -(struct iNewtonBody*) JointGetBody1: (const struct iNewtonJoint*) joint; -(void) JointGetInfo: (const struct iNewtonJoint*) joint: (struct iNewtonJointRecord*) info; -(int) JointGetCollisionState: (const struct iNewtonJoint*) joint; -(void) JointSetCollisionState: (const struct iNewtonJoint*) joint: (int) state; -(float) JointGetStiffness: (const struct iNewtonJoint*) joint; -(void) JointSetStiffness: (const struct iNewtonJoint*) joint: (float) state; -(void) DestroyJoint: (const struct iNewtonJoint*) joint; -(void) JointSetDestructor: (const struct iNewtonJoint*) joint: (iNewtonConstraintDestructor) destructor; -(struct iNewtonJoint*) ConstraintCreateUpVector: (const float*) pinDir: (const struct iNewtonBody*) body; -(void) UpVectorGetPin: (const struct iNewtonJoint*) upVector: (float*) pin; -(void) UpVectorSetPin: (const struct iNewtonJoint*) upVector: (const float*) pin; -(struct iNewtonJoint*) ConstraintCreateUserJoint: (int) maxDOF: (iNewtonUserBilateralCallBack) callback: (iNewtonUserBilateralGetInfoCallBack) getInfo: (const struct iNewtonBody*) childBody: (const struct iNewtonBody*) parentBody; -(void) UserJointSetFeedbackCollectorCallback: (const struct iNewtonJoint*) joint: (iNewtonUserBilateralCallBack) getFeedback; -(void) UserJointAddLinearRow: (const struct iNewtonJoint*) joint: (const float*) pivot0: (const float*) pivot1: (const float*) dir; -(void) UserJointAddAngularRow: (const struct iNewtonJoint*) joint: (float) relativeAngle: (const float*) dir; -(void) UserJointAddGeneralRow: (const struct iNewtonJoint*) joint: (const float*) jacobian0: (const float*) jacobian1; -(void) UserJointSetRowMinimumFriction: (const struct iNewtonJoint*) joint: (float) friction; -(void) UserJointSetRowMaximumFriction: (const struct iNewtonJoint*) joint: (float) friction; -(void) UserJointSetRowAcceleration: (const struct iNewtonJoint*) joint: (float) acceleration; -(void) UserJointSetRowSpringDamperAcceleration: (const struct iNewtonJoint*) joint: (float) springK: (float) springD; -(void) UserJointSetRowStiffness: (const struct iNewtonJoint*) joint: (float) stiffness; -(float) UserJointGetRowForce: (const struct iNewtonJoint*) joint: (int) row; -(struct iNewtonMesh*) MeshCreate; -(struct iNewtonMesh*) MeshCreateFromMesh: (const struct iNewtonMesh*) mesh; -(struct iNewtonMesh*) MeshCreateFromCollision: (const struct iNewtonCollision*) collision; -(struct iNewtonMesh*) MeshConvexHull: (int) count: (const float*) vertexCloud: (int) strideInBytes: (float) tolerance; -(struct iNewtonMesh*) MeshCreatePlane: (const float*) locationMatrix: (float) witdth: (float) breadth: (int) material: (const float*) textureMatrix0: (const float*) textureMatrix1; -(void) MeshDestroy: (const struct iNewtonMesh*) mesh; -(void) MeshCalculateOOBB: (const struct iNewtonMesh*) mesh: (float*) matrix: (float*) x: (float*) y: (float*) z; -(void) MeshCalculateVertexNormals: (const struct iNewtonMesh*) mesh: (float) angleInRadians; -(void) MeshApplySphericalMapping: (const struct iNewtonMesh*) mesh: (int) material; -(void) MeshApplyBoxMapping: (const struct iNewtonMesh*) mesh: (int) front: (int) side: (int) top; -(void) MeshApplyCylindricalMapping: (const struct iNewtonMesh*) mesh: (int) cylinderMaterial: (int) capMaterial; -(int) MeshIsOpenMesh: (const struct iNewtonMesh*) mesh; -(void) MeshFixTJoints: (const struct iNewtonMesh*) mesh; -(void) MeshPolygonize: (const struct iNewtonMesh*) mesh; -(void) MeshTriangulate: (const struct iNewtonMesh*) mesh; -(struct iNewtonMesh*) MeshUnion: (const struct iNewtonMesh*) mesh: (const struct iNewtonMesh*) clipper: (const float*) clipperMatrix; -(struct iNewtonMesh*) MeshDifference: (const struct iNewtonMesh*) mesh: (const struct iNewtonMesh*) clipper: (const float*) clipperMatrix; -(struct iNewtonMesh*) MeshIntersection: (const struct iNewtonMesh*) mesh: (const struct iNewtonMesh*) clipper: (const float*) clipperMatrix; -(void) MeshClip: (const struct iNewtonMesh*) mesh: (const struct iNewtonMesh*) clipper: (const float*) clipperMatrix: (struct iNewtonMesh**) topMesh: (struct iNewtonMesh**) bottomMesh; -(void) RemoveUnusedVertices: (const struct iNewtonMesh*) mesh: (int*) vertexRemapTable; -(void) MeshBeginFace: (const struct iNewtonMesh* const) mesh; -(void) MeshAddFace: (const struct iNewtonMesh* const) mesh: (int) vertexCount: (const float*) vertex: (int) strideInBytes: (int) materialIndex; -(void) MeshEndFace: (const struct iNewtonMesh* const) mesh; -(void) MeshBuildFromVertexListIndexList: (const struct iNewtonMesh* const) mesh: (int) faceCount: (const int* const) faceIndexCount: (const int* const) faceMaterialIndex: (const float* const) vertex: (int) vertexStrideInBytes: (const int* const) vertexIndex: (const float* const) normal: (int) normalStrideInBytes: (const int* const) normalIndex: (const float* const) uv0: (int) uv0StrideInBytes: (const int* const) uv0Index: (const float* const) uv1: (int) uv1StrideInBytes: (const int* const) uv1Index; -(void) MeshGetVertexStreams: (const struct iNewtonMesh* const) mesh: (int) vertexStrideInByte: (float*) vertex: (int) normalStrideInByte: (float*) normal: (int) uvStrideInByte0: (float*) uv0: (int) uvStrideInByte1: (float*) uv1; -(void) MeshGetIndirectVertexStreams: (const struct iNewtonMesh* const) mesh: (int) vertexStrideInByte: (float*) vertex: (int*) vertexIndices: (int*) vertexCount: (int) normalStrideInByte: (float*) normal: (int*) normalIndices: (int*) normalCount: (int) uvStrideInByte0: (float*) uv0: (int*) uvIndices0: (int*) uvCount0: (int) uvStrideInByte1: (float*) uv1: (int*) uvIndices1: (int*) uvCount1; -(void*) MeshBeginHandle: (const struct iNewtonMesh* const) mesh; -(void) MeshEndHandle: (const struct iNewtonMesh* const) mesh: (void* const) handle; -(int) MeshFirstMaterial: (const struct iNewtonMesh* const) mesh: (void* const) handle; -(int) MeshNextMaterial: (const struct iNewtonMesh* const) mesh: (void* const) handle: (int) materialId; -(int) MeshMaterialGetMaterial: (const struct iNewtonMesh* const) mesh: (void* const) handle: (int) materialId; -(int) MeshMaterialGetIndexCount: (const struct iNewtonMesh* const) mesh: (void* const) handle: (int) materialId; -(void) MeshMaterialGetIndexStream: (const struct iNewtonMesh* const) mesh: (void* const) handle: (int) materialId: (int*) index; -(void) MeshMaterialGetIndexStreamShort: (const struct iNewtonMesh* const) mesh: (void* const) handle: (int) materialId: (short int*) index; -(struct iNewtonMesh*) MeshCreateFirstSingleSegment: (const struct iNewtonMesh* const) mesh; -(struct iNewtonMesh*) MeshCreateNextSingleSegment: (const struct iNewtonMesh* const) mesh: (const struct iNewtonMesh*) segment; -(int) MeshGetTotalFaceCount: (const struct iNewtonMesh* const) mesh; -(int) MeshGetTotalIndexCount: (const struct iNewtonMesh* const) mesh; -(void) MeshGetFaces: (const struct iNewtonMesh* const) mesh: (int* const) faceIndexCount: (int* const) faceMaterial: (void** const) faceIndices; -(int) MeshGetPointCount: (const struct iNewtonMesh* const) mesh; -(int) MeshGetPointStrideInByte: (const struct iNewtonMesh* const) mesh; -(float*) MeshGetPointArray: (const struct iNewtonMesh* const) mesh; -(float*) MeshGetNormalArray: (const struct iNewtonMesh* const) mesh; -(float*) MeshGetUV0Array: (const struct iNewtonMesh* const) mesh; -(float*) MeshGetUV1Array: (const struct iNewtonMesh* const) mesh; -(int) MeshGetVertexCount: (const struct iNewtonMesh* const) mesh; -(int) MeshGetVertexStrideInByte: (const struct iNewtonMesh* const) mesh; -(float*) MeshGetVertexArray: (const struct iNewtonMesh* const) mesh; -(void*) MeshGetFirstVertex: (const struct iNewtonMesh* const) mesh; -(void*) MeshGetNextVertex: (const struct iNewtonMesh* const) mesh: (const void*) vertex; -(int) MeshGetVertexIndex: (const struct iNewtonMesh* const) mesh: (const void*) vertex; -(void*) MeshGetFirstPoint: (const struct iNewtonMesh* const) mesh; -(void*) MeshGetNextPoint: (const struct iNewtonMesh* const) mesh: (const void*) point; -(int) MeshGetPointIndex: (const struct iNewtonMesh* const) mesh: (const void*) point; -(int) MeshGetVertexIndexFromPoint: (const struct iNewtonMesh* const) mesh: (const void*) point; -(void*) MeshGetFirstEdge: (const struct iNewtonMesh* const) mesh; -(void*) MeshGetNextEdge: (const struct iNewtonMesh* const) mesh: (const void*) edge; -(void) MeshGetEdgeIndices: (const struct iNewtonMesh* const) mesh: (const void*) edge: (int*) v0: (int*) v1; -(void*) MeshGetFirstFace: (const struct iNewtonMesh* const) mesh; -(void*) MeshGetNextFace: (const struct iNewtonMesh* const) mesh: (const void*) face; -(int) MeshIsFaceOpen: (const struct iNewtonMesh* const) mesh: (const void*) face; -(int) MeshGetFaceMaterial: (const struct iNewtonMesh* const) mesh: (const void*) face; -(int) MeshGetFaceIndexCount: (const struct iNewtonMesh* const) mesh: (const void*) face; -(void) MeshGetFaceIndices: (const struct iNewtonMesh* const) mesh: (const void*) face: (int*) indices; -(void) MeshGetFacePointIndices: (const struct iNewtonMesh* const) mesh: (const void*) face: (int*) indices; -(void) CustomDestroyJoint: (const struct iNewtonUserJoint*) joint; -(struct iNewtonJoint*) CustomGetNewtonJoint: (const struct iNewtonUserJoint*) joint; -(int) CustomGetJointID: (const struct iNewtonUserJoint*) joint; -(void) CustomSetJointID: (const struct iNewtonUserJoint*) joint: (int) rttI; -(const struct iNewtonBody*) CustomGetBody0: (const struct iNewtonUserJoint*) joint; -(const struct iNewtonBody*) CustomGetBody1: (const struct iNewtonUserJoint*) joint; -(int) CustomGetBodiesCollisionState: (const struct iNewtonUserJoint*) joint; -(void) CustomSetBodiesCollisionState: (const struct iNewtonUserJoint*) joint: (int) state; -(void*) CustomGetUserData: (const struct iNewtonUserJoint*) joint; -(void) CustomSetUserData: (const struct iNewtonUserJoint*) joint: (void*) userData; -(void) CustomSetDestructorCallback: (const struct iNewtonUserJoint*) joint: (iNewtonUserJointDestructorCallback) callback; -(void) CustomSetSubmitContraintCallback: (const struct iNewtonUserJoint*) joint: (iNewtonUserJointSubmitConstraintCallback) callback; -(struct iNewtonUserJoint*) CustomCreateBlankJoint: (int) maxDof: (const struct iNewtonBody*) body0: (const struct iNewtonBody*) body1: (iBlankJointGetInfo) info; -(struct iNewtonUserJoint*) CreateCustomKinematicController: (const struct iNewtonBody*) targetBody: (float*) attachmentPointInGlobalSpace; -(void) CustomKinematicControllerSetPickMode: (const struct iNewtonUserJoint*) pick: (int) mode; -(void) CustomKinematicControllerSetMaxLinearFriction: (const struct iNewtonUserJoint*) pick: (float) accel; -(void) CustomKinematicControllerSetMaxAngularFriction: (const struct iNewtonUserJoint*) pick: (float) alpha; -(void) CustomKinematicControllerSetTargetPosit: (const struct iNewtonUserJoint*) pick: (float*) posit; -(void) CustomKinematicControllerSetTargetRotation: (const struct iNewtonUserJoint*) pick: (float*) rotation; -(void) CustomKinematicControllerSetTargetMatrix: (const struct iNewtonUserJoint*) pick: (float*) matrix; -(void) CustomKinematicControllerGetTargetMatrix: (const struct iNewtonUserJoint*) pick: (float*) matrix; -(struct iNewtonUserJoint*) CreateCustomJoint6DOF: (const float*) pinsAndPivotChildFrame: (const float*) pinsAndPivotParentFrame: (const struct iNewtonBody*) child: (const struct iNewtonBody*) parent; -(void) CustomJoint6DOF_SetLinearLimits: (struct iNewtonUserJoint*) customJoint6DOF: (const float*) minLinearLimits: (const float*) maxLinearLimits; -(void) CustomJoint6DOF_SetAngularLimits: (struct iNewtonUserJoint*) customJoint6DOF: (const float*) minAngularLimits: (const float*) maxAngularLimits; -(void) CustomJoint6DOF_GetLinearLimits: (struct iNewtonUserJoint*) customJoint6DOF: (float*) minLinearLimits: (float*) maxLinearLimits; -(void) CustomJoint6DOF_GetAngularLimits: (struct iNewtonUserJoint*) customJoint6DOF: (float*) minAngularLimits: (float*) maxAngularLimits; -(void) CustomJoint6DOF_SetReverseUniversal: (struct iNewtonUserJoint*) customJoint6DOF: (int) order; -(struct iNewtonUserJoint*) CreateCustomBallAndSocket: (const float*) pinsAndPivotChildFrame: (const struct iNewtonBody*) child: (const struct iNewtonBody*) parent; -(void) BallAndSocketSetConeAngle: (struct iNewtonUserJoint*) ballJoint: (float) angle; -(void) BallAndSocketSetTwistAngle: (struct iNewtonUserJoint*) ballJoint: (float) minAngle: (float) maxAngle; -(struct iNewtonUserJoint*) CreateCustomHinge: (const float*) pinsAndPivotChildFrame: (const struct iNewtonBody*) child: (const struct iNewtonBody*) parent; -(void) HingeEnableLimits: (struct iNewtonUserJoint*) hingeJoint: (int) state; -(void) HingeSetLimits: (struct iNewtonUserJoint*) hingeJoint: (float) minAngle: (float) maxAngle; -(float) HingeGetJointAngle: (const struct iNewtonUserJoint*) hingeJoint; -(void) HingeGetPinAxis: (const struct iNewtonUserJoint*) hingeJoint: (float*) pin; -(float) HingeCalculateJointOmega: (const struct iNewtonUserJoint*) hingeJoint; -(struct iNewtonUserJoint*) CreateCustomSlider: (const float*) pinsAndPivotChildFrame: (const struct iNewtonBody*) child: (const struct iNewtonBody*) parent; -(void) SliderEnableLimits: (struct iNewtonUserJoint*) sliderJoint: (int) state; -(void) SliderSetLimits: (struct iNewtonUserJoint*) sliderJoint: (float) mindist: (float) maxdist; -(struct iNewtonUserJoint*) CreateCustomPlayerController: (const float*) pins: (const struct iNewtonBody*) player: (float) maxStairStepFactor: (float) cushion; -(void) CustomPlayerControllerSetVelocity: (const struct iNewtonUserJoint*) playerController: (float) forwardSpeed: (float) sideSpeed: (float) heading; -(void) CustomPlayerControllerGetVisualMaTrix: (const struct iNewtonUserJoint*) playerController: (float*) matrix; -(float) CustomPlayerControllerGetMaxSlope: (const struct iNewtonUserJoint*) playerController; -(void) CustomPlayerControllerSetMaxSlope: (const struct iNewtonUserJoint*) playerController: (float) maxSlopeAngleIndRadian; -(const struct iNewtonCollision*) CustomPlayerControllerGetSensorShape: (const struct iNewtonUserJoint*) playerController; -(struct iNewtonUserJoint*) DGRaycastVehicleCreate: (int) maxTireCount: (const float*) cordenateSytemInLocalSpace: (struct iNewtonBody*) carBody; -(void) DGRaycastVehicleAddTire: (struct iNewtonUserJoint*) car: (void*) userData: (const float*) localPosition: (float) mass: (float) radius: (float) width: (float) friction: (float) suspensionLength: (float) springConst: (float) springDamper: (int) castMode; -(void) DGRaycastVehicleSetTireTransformCallback: (struct iNewtonUserJoint*) car: (iDGRaycastVehicleTireTransformCallback) callback; -(int) DGRaycastVehicleGetTiresCount: (struct iNewtonUserJoint*) car; -(void*) DGRaycastVehicleGetTiresUserData: (struct iNewtonUserJoint*) car: (int) tireIndex; -(void) DGRaycastVehicleGetTireMatrix: (struct iNewtonUserJoint*) car: (int) tireIndex: (float*) tireMatrix; -(void) DGRaycastVehicleInitNormalizeTireLateralForce: (struct iNewtonUserJoint*) car: (int) pointsCount: (float* const) piceSizeStepAxis: (float* const) normalizedForceValue; -(void) DGRaycastVehicleInitNormalizeTireLongitudinalForce: (struct iNewtonUserJoint*) car: (int) pointsCount: (float* const) piceSizeStepAxis: (float* const) normalizedForceValue; @end