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Ode.NET - .NET bindings for ODE
Jason Perkins (starkos@gmail.com)
THIS IS A WORK IN PROGRESS! I'm not done yet!
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INSTALLATION
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Note that this binding uses a C# 2.0 feature (the
UnmanagedFunctionPointer attribute). You will need to use
Visual Studio 2005 (C# Express is fine) or Mono's gmcs
compiler.
Start by getting or building ODE as a shared library (DLL).
The simplest way to build the bindings is probably to create a
new library assembly in your tool of choice and drop in the files
Ode/Ode.cs and Ode/AssemblyInfo.cs. Define the symbol`dDOUBLE` if
you used double-precision math in your ode.dll. Build, done.
For testing purposes, I have also created bindings for the
Drawstuff library and a C# version of the BoxStack demo. You can
throw all of these files into a console executable and run it to
see the demo.
If you happen to have Premake installed (http://premake.sf.net/),
you can generate build scripts for the library with:
premake --target (toolset) # for single precision
premake --with-doubles --target (toolset) # for double precision
To build the test application too, use:
premake --with-tests --target (toolset)
To build with Mono, you must add the --dotnet parameter to enable
support .NET 2.0:
premake --dotnet mono2 --target gnu
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USAGE
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I have tried to keep things as close to the original C API as I can,
rather than forcing a class structure on everyone. Everything is
contained within the `Ode.NET` namespace inside a static class
named `d`. All ODE IDs are replaced with IntPtrs. A quick example:
using Ode.NET;
IntPtr world = d.WorldCreate();
IntPtr body = d.BodyCreate(world);
Take a look at Tests/BoxStack.cs for a more complete example.
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KNOWN ISSUES
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I'm not done yet, so many functions are still missing.
It is not possible to implement dBodyGetPosition(), dBodyGetRotation(),
etc. without resorting to unsafe code, which I was trying to avoid.
This binding uses the .NET friendly dBodyCopyPosition(),
dBodyCopyRotation(), etc. instead.
Collision response (contact joints) do not work when built under
Mono as double-precision. I have not tried to track down why.
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