NativeMethods.cs

using System.Collections;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using System;



public partial class NativeConstants {
    
    /// PHYSICS_CLIENT_C_API_H -> 
    /// Error generating expression: Value cannot be null.
    ///Parameter name: node
    public const string PHYSICS_CLIENT_C_API_H = "";
    
    /// SHARED_MEMORY_PUBLIC_H -> 
    /// Error generating expression: Value cannot be null.
    ///Parameter name: node
    public const string SHARED_MEMORY_PUBLIC_H = "";
    
    /// SHARED_MEMORY_KEY -> 12347
    public const int SHARED_MEMORY_KEY = 12347;
    
    /// SHARED_MEMORY_MAGIC_NUMBER -> 201801170
    public const int SHARED_MEMORY_MAGIC_NUMBER = 201801170;
    
    /// MAX_VR_ANALOG_AXIS -> 5
    public const int MAX_VR_ANALOG_AXIS = 5;
    
    /// MAX_VR_BUTTONS -> 64
    public const int MAX_VR_BUTTONS = 64;
    
    /// MAX_VR_CONTROLLERS -> 8
    public const int MAX_VR_CONTROLLERS = 8;
    
    /// MAX_RAY_INTERSECTION_BATCH_SIZE -> 256
    public const int MAX_RAY_INTERSECTION_BATCH_SIZE = 256;
    
    /// MAX_RAY_HITS -> MAX_RAY_INTERSECTION_BATCH_SIZE
    public const int MAX_RAY_HITS = NativeConstants.MAX_RAY_INTERSECTION_BATCH_SIZE;
    
    /// MAX_KEYBOARD_EVENTS -> 256
    public const int MAX_KEYBOARD_EVENTS = 256;
    
    /// MAX_MOUSE_EVENTS -> 256
    public const int MAX_MOUSE_EVENTS = 256;
    
    /// MAX_SDF_BODIES -> 512
    public const int MAX_SDF_BODIES = 512;
    
    /// VISUAL_SHAPE_MAX_PATH_LEN -> 1024
    public const int VISUAL_SHAPE_MAX_PATH_LEN = 1024;
    
    /// B3_MAX_PLUGIN_ARG_SIZE -> 128
    public const int B3_MAX_PLUGIN_ARG_SIZE = 128;
    
    /// B3_MAX_PLUGIN_ARG_TEXT_LEN -> 1024
    public const int B3_MAX_PLUGIN_ARG_TEXT_LEN = 1024;
    
    /// Warning: Generation of Method Macros is not supported at this time
    /// B3_DECLARE_HANDLE -> "(name) typedef struct name##__ { int unused; } *name"
    public const string B3_DECLARE_HANDLE = "(name) typedef struct name##__ { int unused; } *name";
    
    /// B3_SHARED_API -> __declspec(dllexport)
    /// Error generating expression: Error generating function call.  Operation not implemented
    public const string B3_SHARED_API = "__declspec(dllexport)";
    
    /// PHYSICS_CLIENT_SHARED_MEMORY_H -> 
    /// Error generating expression: Value cannot be null.
    ///Parameter name: node
    public const string PHYSICS_CLIENT_SHARED_MEMORY_H = "";
    
    /// PHYSICS_CLIENT_SHARED_MEMORY2_H -> 
    /// Error generating expression: Value cannot be null.
    ///Parameter name: node
    public const string PHYSICS_CLIENT_SHARED_MEMORY2_H = "";
    
    /// PHYSICS_DIRECT_C_API_H -> 
    /// Error generating expression: Value cannot be null.
    ///Parameter name: node
    public const string PHYSICS_DIRECT_C_API_H = "";
    
    /// IN_PROCESS_PHYSICS_C_API_H -> 
    /// Error generating expression: Value cannot be null.
    ///Parameter name: node
    public const string IN_PROCESS_PHYSICS_C_API_H = "";
}

public enum EnumSharedMemoryClientCommand {
    
    CMD_LOAD_SDF,
    
    CMD_LOAD_URDF,
    
    CMD_LOAD_BULLET,
    
    CMD_SAVE_BULLET,
    
    CMD_LOAD_MJCF,
    
    CMD_LOAD_SOFT_BODY,
    
    CMD_SEND_BULLET_DATA_STREAM,
    
    CMD_CREATE_BOX_COLLISION_SHAPE,
    
    CMD_CREATE_RIGID_BODY,
    
    CMD_DELETE_RIGID_BODY,
    
    CMD_CREATE_SENSOR,
    
    CMD_INIT_POSE,
    
    CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
    
    CMD_SEND_DESIRED_STATE,
    
    CMD_REQUEST_ACTUAL_STATE,
    
    CMD_REQUEST_DEBUG_LINES,
    
    CMD_REQUEST_BODY_INFO,
    
    CMD_REQUEST_INTERNAL_DATA,
    
    CMD_STEP_FORWARD_SIMULATION,
    
    CMD_RESET_SIMULATION,
    
    CMD_PICK_BODY,
    
    CMD_MOVE_PICKED_BODY,
    
    CMD_REMOVE_PICKING_CONSTRAINT_BODY,
    
    CMD_REQUEST_CAMERA_IMAGE_DATA,
    
    CMD_APPLY_EXTERNAL_FORCE,
    
    CMD_CALCULATE_INVERSE_DYNAMICS,
    
    CMD_CALCULATE_INVERSE_KINEMATICS,
    
    CMD_CALCULATE_JACOBIAN,
    
    CMD_CALCULATE_MASS_MATRIX,
    
    CMD_USER_CONSTRAINT,
    
    CMD_REQUEST_CONTACT_POINT_INFORMATION,
    
    CMD_REQUEST_RAY_CAST_INTERSECTIONS,
    
    CMD_REQUEST_AABB_OVERLAP,
    
    CMD_SAVE_WORLD,
    
    CMD_REQUEST_VISUAL_SHAPE_INFO,
    
    CMD_UPDATE_VISUAL_SHAPE,
    
    CMD_LOAD_TEXTURE,
    
    CMD_SET_SHADOW,
    
    CMD_USER_DEBUG_DRAW,
    
    CMD_REQUEST_VR_EVENTS_DATA,
    
    CMD_SET_VR_CAMERA_STATE,
    
    CMD_SYNC_BODY_INFO,
    
    CMD_STATE_LOGGING,
    
    CMD_CONFIGURE_OPENGL_VISUALIZER,
    
    CMD_REQUEST_KEYBOARD_EVENTS_DATA,
    
    CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
    
    CMD_REMOVE_BODY,
    
    CMD_CHANGE_DYNAMICS_INFO,
    
    CMD_GET_DYNAMICS_INFO,
    
    CMD_PROFILE_TIMING,
    
    CMD_CREATE_COLLISION_SHAPE,
    
    CMD_CREATE_VISUAL_SHAPE,
    
    CMD_CREATE_MULTI_BODY,
    
    CMD_REQUEST_COLLISION_INFO,
    
    CMD_REQUEST_MOUSE_EVENTS_DATA,
    
    CMD_CHANGE_TEXTURE,
    
    CMD_SET_ADDITIONAL_SEARCH_PATH,
    
    CMD_CUSTOM_COMMAND,
    
    CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS,
    
    CMD_SAVE_STATE,
    
    CMD_RESTORE_STATE,
    
    CMD_REQUEST_COLLISION_SHAPE_INFO,
    
    CMD_MAX_CLIENT_COMMANDS,
}

public enum EnumSharedMemoryServerStatus {
    
    /// CMD_SHARED_MEMORY_NOT_INITIALIZED -> 0
    CMD_SHARED_MEMORY_NOT_INITIALIZED = 0,
    
    CMD_WAITING_FOR_CLIENT_COMMAND,
    
    CMD_CLIENT_COMMAND_COMPLETED,
    
    CMD_UNKNOWN_COMMAND_FLUSHED,
    
    CMD_SDF_LOADING_COMPLETED,
    
    CMD_SDF_LOADING_FAILED,
    
    CMD_URDF_LOADING_COMPLETED,
    
    CMD_URDF_LOADING_FAILED,
    
    CMD_BULLET_LOADING_COMPLETED,
    
    CMD_BULLET_LOADING_FAILED,
    
    CMD_BULLET_SAVING_COMPLETED,
    
    CMD_BULLET_SAVING_FAILED,
    
    CMD_MJCF_LOADING_COMPLETED,
    
    CMD_MJCF_LOADING_FAILED,
    
    CMD_REQUEST_INTERNAL_DATA_COMPLETED,
    
    CMD_REQUEST_INTERNAL_DATA_FAILED,
    
    CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
    
    CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
    
    CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
    
    CMD_RIGID_BODY_CREATION_COMPLETED,
    
    CMD_SET_JOINT_FEEDBACK_COMPLETED,
    
    CMD_ACTUAL_STATE_UPDATE_COMPLETED,
    
    CMD_ACTUAL_STATE_UPDATE_FAILED,
    
    CMD_DEBUG_LINES_COMPLETED,
    
    CMD_DEBUG_LINES_OVERFLOW_FAILED,
    
    CMD_DESIRED_STATE_RECEIVED_COMPLETED,
    
    CMD_STEP_FORWARD_SIMULATION_COMPLETED,
    
    CMD_RESET_SIMULATION_COMPLETED,
    
    CMD_CAMERA_IMAGE_COMPLETED,
    
    CMD_CAMERA_IMAGE_FAILED,
    
    CMD_BODY_INFO_COMPLETED,
    
    CMD_BODY_INFO_FAILED,
    
    CMD_INVALID_STATUS,
    
    CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
    
    CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
    
    CMD_CALCULATED_JACOBIAN_COMPLETED,
    
    CMD_CALCULATED_JACOBIAN_FAILED,
    
    CMD_CALCULATED_MASS_MATRIX_COMPLETED,
    
    CMD_CALCULATED_MASS_MATRIX_FAILED,
    
    CMD_CONTACT_POINT_INFORMATION_COMPLETED,
    
    CMD_CONTACT_POINT_INFORMATION_FAILED,
    
    CMD_REQUEST_AABB_OVERLAP_COMPLETED,
    
    CMD_REQUEST_AABB_OVERLAP_FAILED,
    
    CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
    
    CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
    
    CMD_SAVE_WORLD_COMPLETED,
    
    CMD_SAVE_WORLD_FAILED,
    
    CMD_VISUAL_SHAPE_INFO_COMPLETED,
    
    CMD_VISUAL_SHAPE_INFO_FAILED,
    
    CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
    
    CMD_VISUAL_SHAPE_UPDATE_FAILED,
    
    CMD_LOAD_TEXTURE_COMPLETED,
    
    CMD_LOAD_TEXTURE_FAILED,
    
    CMD_USER_DEBUG_DRAW_COMPLETED,
    
    CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED,
    
    CMD_USER_DEBUG_DRAW_FAILED,
    
    CMD_USER_CONSTRAINT_COMPLETED,
    
    CMD_USER_CONSTRAINT_INFO_COMPLETED,
    
    CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED,
    
    CMD_REMOVE_USER_CONSTRAINT_COMPLETED,
    
    CMD_CHANGE_USER_CONSTRAINT_COMPLETED,
    
    CMD_REMOVE_USER_CONSTRAINT_FAILED,
    
    CMD_CHANGE_USER_CONSTRAINT_FAILED,
    
    CMD_USER_CONSTRAINT_FAILED,
    
    CMD_REQUEST_VR_EVENTS_DATA_COMPLETED,
    
    CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED,
    
    CMD_SYNC_BODY_INFO_COMPLETED,
    
    CMD_SYNC_BODY_INFO_FAILED,
    
    CMD_STATE_LOGGING_COMPLETED,
    
    CMD_STATE_LOGGING_START_COMPLETED,
    
    CMD_STATE_LOGGING_FAILED,
    
    CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED,
    
    CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED,
    
    CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED,
    
    CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
    
    CMD_REMOVE_BODY_COMPLETED,
    
    CMD_REMOVE_BODY_FAILED,
    
    CMD_GET_DYNAMICS_INFO_COMPLETED,
    
    CMD_GET_DYNAMICS_INFO_FAILED,
    
    CMD_CREATE_COLLISION_SHAPE_FAILED,
    
    CMD_CREATE_COLLISION_SHAPE_COMPLETED,
    
    CMD_CREATE_VISUAL_SHAPE_FAILED,
    
    CMD_CREATE_VISUAL_SHAPE_COMPLETED,
    
    CMD_CREATE_MULTI_BODY_FAILED,
    
    CMD_CREATE_MULTI_BODY_COMPLETED,
    
    CMD_REQUEST_COLLISION_INFO_COMPLETED,
    
    CMD_REQUEST_COLLISION_INFO_FAILED,
    
    CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
    
    CMD_CHANGE_TEXTURE_COMMAND_FAILED,
    
    CMD_CUSTOM_COMMAND_COMPLETED,
    
    CMD_CUSTOM_COMMAND_FAILED,
    
    CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED,
    
    CMD_SAVE_STATE_FAILED,
    
    CMD_SAVE_STATE_COMPLETED,
    
    CMD_RESTORE_STATE_FAILED,
    
    CMD_RESTORE_STATE_COMPLETED,
    
    CMD_COLLISION_SHAPE_INFO_COMPLETED,
    
    CMD_COLLISION_SHAPE_INFO_FAILED,
    
    CMD_LOAD_SOFT_BODY_FAILED,
    
    CMD_LOAD_SOFT_BODY_COMPLETED,
    
    CMD_MAX_SERVER_COMMANDS,
}

public enum JointInfoFlags {
    
    /// JOINT_HAS_MOTORIZED_POWER -> 1
    JOINT_HAS_MOTORIZED_POWER = 1,
}

public enum JointType {
    
    /// eRevoluteType -> 0
    eRevoluteType = 0,
    
    /// ePrismaticType -> 1
    ePrismaticType = 1,
    
    /// eSphericalType -> 2
    eSphericalType = 2,
    
    /// ePlanarType -> 3
    ePlanarType = 3,
    
    /// eFixedType -> 4
    eFixedType = 4,
    
    /// ePoint2PointType -> 5
    ePoint2PointType = 5,
    
    /// eGearType -> 6
    eGearType = 6,
}

public enum b3JointInfoFlags {
    
    /// eJointChangeMaxForce -> 1
    eJointChangeMaxForce = 1,
    
    /// eJointChangeChildFramePosition -> 2
    eJointChangeChildFramePosition = 2,
    
    /// eJointChangeChildFrameOrientation -> 4
    eJointChangeChildFrameOrientation = 4,
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
public struct b3JointInfo {
    
    /// char[1024]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
    public string m_linkName;
    
    /// char[1024]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
    public string m_jointName;
    
    /// int
    public int m_jointType;
    
    /// int
    public int m_qIndex;
    
    /// int
    public int m_uIndex;
    
    /// int
    public int m_jointIndex;
    
    /// int
    public int m_flags;
    
    /// double
    public double m_jointDamping;
    
    /// double
    public double m_jointFriction;
    
    /// double
    public double m_jointLowerLimit;
    
    /// double
    public double m_jointUpperLimit;
    
    /// double
    public double m_jointMaxForce;
    
    /// double
    public double m_jointMaxVelocity;
    
    /// double[7]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_parentFrame;
    
    /// double[7]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_childFrame;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_jointAxis;
    
    /// int
    public int m_parentIndex;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3UserConstraint {
    
    /// int
    public int m_parentBodyIndex;
    
    /// int
    public int m_parentJointIndex;
    
    /// int
    public int m_childBodyIndex;
    
    /// int
    public int m_childJointIndex;
    
    /// double[7]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_parentFrame;
    
    /// double[7]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_childFrame;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_jointAxis;
    
    /// int
    public int m_jointType;
    
    /// double
    public double m_maxAppliedForce;
    
    /// int
    public int m_userConstraintUniqueId;
    
    /// double
    public double m_gearRatio;
    
    /// int
    public int m_gearAuxLink;
    
    /// double
    public double m_relativePositionTarget;
    
    /// double
    public double m_erp;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
public struct b3BodyInfo {
    
    /// char[1024]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
    public string m_baseName;
    
    /// char[1024]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
    public string m_bodyName;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3DynamicsInfo {
    
    /// double
    public double m_mass;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_localInertialDiagonal;
    
    /// double[7]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_localInertialFrame;
    
    /// double
    public double m_lateralFrictionCoeff;
    
    /// double
    public double m_rollingFrictionCoeff;
    
    /// double
    public double m_spinningFrictionCoeff;
    
    /// double
    public double m_restitution;
    
    /// double
    public double m_contactStiffness;
    
    /// double
    public double m_contactDamping;
}

public enum SensorType {
    
    /// eSensorForceTorqueType -> 1
    eSensorForceTorqueType = 1,
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3JointSensorState {
    
    /// double
    public double m_jointPosition;
    
    /// double
    public double m_jointVelocity;
    
    /// double[6]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=6, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_jointForceTorque;
    
    /// double
    public double m_jointMotorTorque;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3DebugLines {
    
    /// int
    public int m_numDebugLines;
    
    /// float*
    public System.IntPtr m_linesFrom;
    
    /// float*
    public System.IntPtr m_linesTo;
    
    /// float*
    public System.IntPtr m_linesColor;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3OverlappingObject {
    
    /// int
    public int m_objectUniqueId;
    
    /// int
    public int m_linkIndex;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3AABBOverlapData {
    
    /// int
    public int m_numOverlappingObjects;
    
    /// b3OverlappingObject*
    public System.IntPtr m_overlappingObjects;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3CameraImageData {
    
    /// int
    public int m_pixelWidth;
    
    /// int
    public int m_pixelHeight;
    
    /// char*
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
    public string m_rgbColorData;
    
    /// float*
    public System.IntPtr m_depthValues;
    
    /// int*
    public System.IntPtr m_segmentationMaskValues;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3OpenGLVisualizerCameraInfo {
    
    /// int
    public int m_width;
    
    /// int
    public int m_height;
    
    /// float[16]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=16, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
    public float[] m_viewMatrix;
    
    /// float[16]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=16, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
    public float[] m_projectionMatrix;
    
    /// float[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
    public float[] m_camUp;
    
    /// float[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
    public float[] m_camForward;
    
    /// float[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
    public float[] m_horizontal;
    
    /// float[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
    public float[] m_vertical;
    
    /// float
    public float m_yaw;
    
    /// float
    public float m_pitch;
    
    /// float
    public float m_dist;
    
    /// float[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
    public float[] m_target;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3UserConstraintState {
    
    /// double[6]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=6, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_appliedConstraintForces;
    
    /// int
    public int m_numDofs;
}

public enum b3VREventType {
    
    /// VR_CONTROLLER_MOVE_EVENT -> 1
    VR_CONTROLLER_MOVE_EVENT = 1,
    
    /// VR_CONTROLLER_BUTTON_EVENT -> 2
    VR_CONTROLLER_BUTTON_EVENT = 2,
    
    /// VR_HMD_MOVE_EVENT -> 4
    VR_HMD_MOVE_EVENT = 4,
    
    /// VR_GENERIC_TRACKER_MOVE_EVENT -> 8
    VR_GENERIC_TRACKER_MOVE_EVENT = 8,
}

public enum b3VRButtonInfo {
    
    /// eButtonIsDown -> 1
    eButtonIsDown = 1,
    
    /// eButtonTriggered -> 2
    eButtonTriggered = 2,
    
    /// eButtonReleased -> 4
    eButtonReleased = 4,
}

public enum eVRDeviceTypeEnums {
    
    /// VR_DEVICE_CONTROLLER -> 1
    VR_DEVICE_CONTROLLER = 1,
    
    /// VR_DEVICE_HMD -> 2
    VR_DEVICE_HMD = 2,
    
    /// VR_DEVICE_GENERIC_TRACKER -> 4
    VR_DEVICE_GENERIC_TRACKER = 4,
}

public enum EVRCameraFlags {
    
    /// VR_CAMERA_TRACK_OBJECT_ORIENTATION -> 1
    VR_CAMERA_TRACK_OBJECT_ORIENTATION = 1,
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3VRControllerEvent {
    
    /// int
    public int m_controllerId;
    
    /// int
    public int m_deviceType;
    
    /// int
    public int m_numMoveEvents;
    
    /// int
    public int m_numButtonEvents;
    
    /// float[4]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
    public float[] m_pos;
    
    /// float[4]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R4)]
    public float[] m_orn;
    
    /// float
    public float m_analogAxis;
    
    /// float[]
    public float[] m_auxAnalogAxis;
    
    /// int[64]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=64, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)]
    public int[] m_buttons;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3VREventsData {
    
    /// int
    public int m_numControllerEvents;
    
    /// b3VRControllerEvent*
    public System.IntPtr m_controllerEvents;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3KeyboardEvent {
    
    /// int
    public int m_keyCode;
    
    /// int
    public int m_keyState;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3KeyboardEventsData {
    
    /// int
    public int m_numKeyboardEvents;
    
    /// b3KeyboardEvent*
    public System.IntPtr m_keyboardEvents;
}

public enum eMouseEventTypeEnums {
    
    /// MOUSE_MOVE_EVENT -> 1
    MOUSE_MOVE_EVENT = 1,
    
    /// MOUSE_BUTTON_EVENT -> 2
    MOUSE_BUTTON_EVENT = 2,
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3MouseEvent {
    
    /// int
    public int m_eventType;
    
    /// float
    public float m_mousePosX;
    
    /// float
    public float m_mousePosY;
    
    /// int
    public int m_buttonIndex;
    
    /// int
    public int m_buttonState;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3MouseEventsData {
    
    /// int
    public int m_numMouseEvents;
    
    /// b3MouseEvent*
    public System.IntPtr m_mouseEvents;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3ContactPointData {
    
    /// int
    public int m_contactFlags;
    
    /// int
    public int m_bodyUniqueIdA;
    
    /// int
    public int m_bodyUniqueIdB;
    
    /// int
    public int m_linkIndexA;
    
    /// int
    public int m_linkIndexB;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_positionOnAInWS;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_positionOnBInWS;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_contactNormalOnBInWS;
    
    /// double
    public double m_contactDistance;
    
    /// double
    public double m_normalForce;
}

public enum b3StateLoggingType {
    
    /// STATE_LOGGING_MINITAUR -> 0
    STATE_LOGGING_MINITAUR = 0,
    
    /// STATE_LOGGING_GENERIC_ROBOT -> 1
    STATE_LOGGING_GENERIC_ROBOT = 1,
    
    /// STATE_LOGGING_VR_CONTROLLERS -> 2
    STATE_LOGGING_VR_CONTROLLERS = 2,
    
    /// STATE_LOGGING_VIDEO_MP4 -> 3
    STATE_LOGGING_VIDEO_MP4 = 3,
    
    /// STATE_LOGGING_COMMANDS -> 4
    STATE_LOGGING_COMMANDS = 4,
    
    /// STATE_LOGGING_CONTACT_POINTS -> 5
    STATE_LOGGING_CONTACT_POINTS = 5,
    
    /// STATE_LOGGING_PROFILE_TIMINGS -> 6
    STATE_LOGGING_PROFILE_TIMINGS = 6,
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3ContactInformation {
    
    /// int
    public int m_numContactPoints;
    
    /// b3ContactPointData*
    public System.IntPtr m_contactPointData;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3RayHitInfo {
    
    /// double
    public double m_hitFraction;
    
    /// int
    public int m_hitObjectUniqueId;
    
    /// int
    public int m_hitObjectLinkIndex;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_hitPositionWorld;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_hitNormalWorld;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3RaycastInformation {
    
    /// int
    public int m_numRayHits;
    
    /// b3RayHitInfo*
    public System.IntPtr m_rayHits;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
public struct b3VisualShapeData {
    
    /// int
    public int m_objectUniqueId;
    
    /// int
    public int m_linkIndex;
    
    /// int
    public int m_visualGeometryType;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_dimensions;
    
    /// char[1024]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
    public string m_meshAssetFileName;
    
    /// double[7]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_localVisualFrame;
    
    /// double[4]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_rgbaColor;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3VisualShapeInformation {
    
    /// int
    public int m_numVisualShapes;
    
    /// b3VisualShapeData*
    public System.IntPtr m_visualShapeData;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
public struct b3CollisionShapeData {
    
    /// int
    public int m_objectUniqueId;
    
    /// int
    public int m_linkIndex;
    
    /// int
    public int m_collisionGeometryType;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_dimensions;
    
    /// double[7]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_localCollisionFrame;
    
    /// char[1024]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
    public string m_meshAssetFileName;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3CollisionShapeInformation {
    
    /// int
    public int m_numCollisionShapes;
    
    /// b3CollisionShapeData*
    public System.IntPtr m_collisionShapeData;
}

public enum eLinkStateFlags {
    
    /// ACTUAL_STATE_COMPUTE_LINKVELOCITY -> 1
    ACTUAL_STATE_COMPUTE_LINKVELOCITY = 1,
    
    /// ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS -> 2
    ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS = 2,
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3LinkState {
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_worldPosition;
    
    /// double[4]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_worldOrientation;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_localInertialPosition;
    
    /// double[4]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_localInertialOrientation;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_worldLinkFramePosition;
    
    /// double[4]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=4, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_worldLinkFrameOrientation;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_worldLinearVelocity;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_worldAngularVelocity;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_worldAABBMin;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_worldAABBMax;
}

public enum EnumExternalForceFlags {
    
    /// EF_LINK_FRAME -> 1
    EF_LINK_FRAME = 1,
    
    /// EF_WORLD_FRAME -> 2
    EF_WORLD_FRAME = 2,
}

public enum EnumRenderer {
    
    /// ER_TINY_RENDERER -> (1<<16)
    ER_TINY_RENDERER = (1) << (16),
    
    /// ER_BULLET_HARDWARE_OPENGL -> (1<<17)
    ER_BULLET_HARDWARE_OPENGL = (1) << (17),
}

public enum EnumRendererAuxFlags {
    
    /// ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX -> 1
    ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX = 1,
}

public enum EnumCalculateInverseKinematicsFlags {
    
    /// IK_DLS -> 0
    IK_DLS = 0,
    
    /// IK_SDLS -> 1
    IK_SDLS = 1,
    
    /// IK_HAS_TARGET_POSITION -> 16
    IK_HAS_TARGET_POSITION = 16,
    
    /// IK_HAS_TARGET_ORIENTATION -> 32
    IK_HAS_TARGET_ORIENTATION = 32,
    
    /// IK_HAS_NULL_SPACE_VELOCITY -> 64
    IK_HAS_NULL_SPACE_VELOCITY = 64,
    
    /// IK_HAS_JOINT_DAMPING -> 128
    IK_HAS_JOINT_DAMPING = 128,
}

public enum b3ConfigureDebugVisualizerEnum {
    
    /// COV_ENABLE_GUI -> 1
    COV_ENABLE_GUI = 1,
    
    COV_ENABLE_SHADOWS,
    
    COV_ENABLE_WIREFRAME,
    
    COV_ENABLE_VR_TELEPORTING,
    
    COV_ENABLE_VR_PICKING,
    
    COV_ENABLE_VR_RENDER_CONTROLLERS,
    
    COV_ENABLE_RENDERING,
    
    COV_ENABLE_SYNC_RENDERING_INTERNAL,
    
    COV_ENABLE_KEYBOARD_SHORTCUTS,
    
    COV_ENABLE_MOUSE_PICKING,
    
    COV_ENABLE_Y_AXIS_UP,
    
    COV_ENABLE_TINY_RENDERER,
    
    COV_ENABLE_RGB_BUFFER_PREVIEW,
    
    COV_ENABLE_DEPTH_BUFFER_PREVIEW,
    
    COV_ENABLE_SEGMENTATION_MARK_PREVIEW,
}

public enum b3AddUserDebugItemEnum {
    
    /// DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA -> 1
    DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA = 1,
    
    /// DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS -> 2
    DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS = 2,
    
    /// DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT -> 4
    DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT = 4,
}

public enum eCONNECT_METHOD {
    
    /// eCONNECT_GUI -> 1
    eCONNECT_GUI = 1,
    
    /// eCONNECT_DIRECT -> 2
    eCONNECT_DIRECT = 2,
    
    /// eCONNECT_SHARED_MEMORY -> 3
    eCONNECT_SHARED_MEMORY = 3,
    
    /// eCONNECT_UDP -> 4
    eCONNECT_UDP = 4,
    
    /// eCONNECT_TCP -> 5
    eCONNECT_TCP = 5,
    
    /// eCONNECT_EXISTING_EXAMPLE_BROWSER -> 6
    eCONNECT_EXISTING_EXAMPLE_BROWSER = 6,
    
    /// eCONNECT_GUI_SERVER -> 7
    eCONNECT_GUI_SERVER = 7,
}

public enum eURDF_Flags {
    
    /// URDF_USE_INERTIA_FROM_FILE -> 2
    URDF_USE_INERTIA_FROM_FILE = 2,
    
    /// URDF_USE_SELF_COLLISION -> 8
    URDF_USE_SELF_COLLISION = 8,
    
    /// URDF_USE_SELF_COLLISION_EXCLUDE_PARENT -> 16
    URDF_USE_SELF_COLLISION_EXCLUDE_PARENT = 16,
    
    /// URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS -> 32
    URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS = 32,
    
    /// URDF_RESERVED -> 64
    URDF_RESERVED = 64,
    
    /// URDF_USE_IMPLICIT_CYLINDER -> 128
    URDF_USE_IMPLICIT_CYLINDER = 128,
    
    /// URDF_GLOBAL_VELOCITIES_MB -> 256
    URDF_GLOBAL_VELOCITIES_MB = 256,
    
    /// MJCF_COLORS_FROM_FILE -> 512
    MJCF_COLORS_FROM_FILE = 512,
}

public enum eUrdfGeomTypes {
    
    /// GEOM_SPHERE -> 2
    GEOM_SPHERE = 2,
    
    GEOM_BOX,
    
    GEOM_CYLINDER,
    
    GEOM_MESH,
    
    GEOM_PLANE,
    
    GEOM_CAPSULE,
    
    GEOM_UNKNOWN,
}

public enum eUrdfCollisionFlags {
    
    /// GEOM_FORCE_CONCAVE_TRIMESH -> 1
    GEOM_FORCE_CONCAVE_TRIMESH = 1,
}

public enum eUrdfVisualFlags {
    
    /// GEOM_VISUAL_HAS_RGBA_COLOR -> 1
    GEOM_VISUAL_HAS_RGBA_COLOR = 1,
    
    /// GEOM_VISUAL_HAS_SPECULAR_COLOR -> 2
    GEOM_VISUAL_HAS_SPECULAR_COLOR = 2,
}

public enum eStateLoggingFlags {
    
    /// STATE_LOG_JOINT_MOTOR_TORQUES -> 1
    STATE_LOG_JOINT_MOTOR_TORQUES = 1,
    
    /// STATE_LOG_JOINT_USER_TORQUES -> 2
    STATE_LOG_JOINT_USER_TORQUES = 2,
    
    /// STATE_LOG_JOINT_TORQUES -> STATE_LOG_JOINT_MOTOR_TORQUES+STATE_LOG_JOINT_USER_TORQUES
    STATE_LOG_JOINT_TORQUES = (eStateLoggingFlags.STATE_LOG_JOINT_MOTOR_TORQUES + eStateLoggingFlags.STATE_LOG_JOINT_USER_TORQUES),
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
public struct b3PluginArguments {
    
    /// char[1024]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
    public string m_text;
    
    /// int
    public int m_numInts;
    
    /// int[128]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)]
    public int[] m_ints;
    
    /// int
    public int m_numFloats;
    
    /// double[128]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_floats;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3PhysicsSimulationParameters {
    
    /// double
    public double m_deltaTime;
    
    /// double[3]
    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
    public double[] m_gravityAcceleration;
    
    /// int
    public int m_numSimulationSubSteps;
    
    /// int
    public int m_numSolverIterations;
    
    /// int
    public int m_useRealTimeSimulation;
    
    /// int
    public int m_useSplitImpulse;
    
    /// double
    public double m_splitImpulsePenetrationThreshold;
    
    /// double
    public double m_contactBreakingThreshold;
    
    /// int
    public int m_internalSimFlags;
    
    /// double
    public double m_defaultContactERP;
    
    /// int
    public int m_collisionFilterMode;
    
    /// int
    public int m_enableFileCaching;
    
    /// double
    public double m_restitutionVelocityThreshold;
    
    /// double
    public double m_defaultNonContactERP;
    
    /// double
    public double m_frictionERP;
    
    /// int
    public int m_enableConeFriction;
    
    /// int
    public int m_deterministicOverlappingPairs;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3PhysicsClientHandle__ {
    
    /// int
    public int unused;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3SharedMemoryCommandHandle__ {
    
    /// int
    public int unused;
}

[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3SharedMemoryStatusHandle__ {
    
    /// int
    public int unused;
}

public partial class NativeMethods {
    
    const string dllName = "pybullet_vs2010_x64_release.dll";
    /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///key: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ConnectSharedMemory")]
public static extern  System.IntPtr b3ConnectSharedMemory(int key) ;

    
    /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///key: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ConnectSharedMemory2")]
public static extern  System.IntPtr b3ConnectSharedMemory2(int key) ;

    
    /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ConnectPhysicsDirect")]
public static extern  System.IntPtr b3ConnectPhysicsDirect() ;

    
    /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///argc: int
    ///argv: char**
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateInProcessPhysicsServerAndConnect")]
public static extern  System.IntPtr b3CreateInProcessPhysicsServerAndConnect(int argc, ref System.IntPtr argv) ;

    
    /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///argc: int
    ///argv: char**
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateInProcessPhysicsServerAndConnectSharedMemory")]
public static extern  System.IntPtr b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, ref System.IntPtr argv) ;

    
    /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///argc: int
    ///argv: char**
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateInProcessPhysicsServerAndConnectMainThread")]
public static extern  System.IntPtr b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, ref System.IntPtr argv) ;

    
    /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///argc: int
    ///argv: char**
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory")]
public static extern  System.IntPtr b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, ref System.IntPtr argv) ;

    
    /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///guiHelperPtr: void*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect")]
public static extern  System.IntPtr b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(System.IntPtr guiHelperPtr) ;

    
    /// Return Type: void
    ///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InProcessRenderSceneInternal")]
public static extern  void b3InProcessRenderSceneInternal(IntPtr clientHandle) ;

    
    /// Return Type: void
    ///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///debugDrawMode: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InProcessDebugDrawInternal")]
public static extern  void b3InProcessDebugDrawInternal(IntPtr clientHandle, int debugDrawMode) ;

    
    /// Return Type: int
    ///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///x: float
    ///y: float
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InProcessMouseMoveCallback")]
public static extern  int b3InProcessMouseMoveCallback(IntPtr clientHandle, float x, float y) ;

    
    /// Return Type: int
    ///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///button: int
    ///state: int
    ///x: float
    ///y: float
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InProcessMouseButtonCallback")]
public static extern  int b3InProcessMouseButtonCallback(IntPtr clientHandle, int button, int state, float x, float y) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3DisconnectSharedMemory")]
public static extern  void b3DisconnectSharedMemory(IntPtr physClient) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CanSubmitCommand")]
public static extern  int b3CanSubmitCommand(IntPtr physClient) ;

    
    /// Return Type: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SubmitClientCommandAndWaitStatus")]
public static extern  System.IntPtr b3SubmitClientCommandAndWaitStatus(IntPtr physClient, IntPtr commandHandle) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SubmitClientCommand")]
public static extern  int b3SubmitClientCommand(IntPtr physClient, IntPtr commandHandle) ;

    
    /// Return Type: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ProcessServerStatus")]
public static extern  System.IntPtr b3ProcessServerStatus(IntPtr physClient) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusType")]
public static extern  int b3GetStatusType(IntPtr statusHandle) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCustomCommand")]
public static extern  System.IntPtr b3CreateCustomCommand(IntPtr physClient) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///pluginPath: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CustomCommandLoadPlugin")]
public static extern  void b3CustomCommandLoadPlugin(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string pluginPath) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///postFix: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CustomCommandLoadPluginSetPostFix")]
public static extern  void b3CustomCommandLoadPluginSetPostFix(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string postFix) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusPluginUniqueId")]
public static extern  int b3GetStatusPluginUniqueId(IntPtr statusHandle) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusPluginCommandResult")]
public static extern  int b3GetStatusPluginCommandResult(IntPtr statusHandle) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///pluginUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CustomCommandUnloadPlugin")]
public static extern  void b3CustomCommandUnloadPlugin(IntPtr commandHandle, int pluginUniqueId) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///pluginUniqueId: int
    ///textArguments: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CustomCommandExecutePluginCommand")]
public static extern  void b3CustomCommandExecutePluginCommand(IntPtr commandHandle, int pluginUniqueId, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string textArguments) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///intVal: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CustomCommandExecuteAddIntArgument")]
public static extern  void b3CustomCommandExecuteAddIntArgument(IntPtr commandHandle, int intVal) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///floatVal: float
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CustomCommandExecuteAddFloatArgument")]
public static extern  void b3CustomCommandExecuteAddFloatArgument(IntPtr commandHandle, float floatVal) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///bodyIndicesOut: int*
    ///bodyIndicesCapacity: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusBodyIndices")]
public static extern  int b3GetStatusBodyIndices(IntPtr statusHandle, ref int bodyIndicesOut, int bodyIndicesCapacity) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusBodyIndex")]
public static extern  int b3GetStatusBodyIndex(IntPtr statusHandle) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///bodyUniqueId: int*
    ///numDegreeOfFreedomQ: int*
    ///numDegreeOfFreedomU: int*
    ///rootLocalInertialFrame: double**
    ///actualStateQ: double**
    ///actualStateQdot: double**
    ///jointReactionForces: double**
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusActualState")]
public static extern  int b3GetStatusActualState(IntPtr statusHandle, ref int bodyUniqueId, ref int numDegreeOfFreedomQ, ref int numDegreeOfFreedomU, ref System.IntPtr rootLocalInertialFrame, ref System.IntPtr actualStateQ, ref System.IntPtr actualStateQdot, ref System.IntPtr jointReactionForces) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCollisionInfoCommandInit")]
public static extern  System.IntPtr b3RequestCollisionInfoCommandInit(IntPtr physClient, int bodyUniqueId) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///linkIndex: int
    ///aabbMin: double*
    ///aabbMax: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusAABB")]
public static extern  int b3GetStatusAABB(IntPtr statusHandle, int linkIndex, ref double aabbMin, ref double aabbMax) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitSyncBodyInfoCommand")]
public static extern  System.IntPtr b3InitSyncBodyInfoCommand(IntPtr physClient) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRemoveBodyCommand")]
public static extern  System.IntPtr b3InitRemoveBodyCommand(IntPtr physClient, int bodyUniqueId) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetNumBodies")]
public static extern  int b3GetNumBodies(IntPtr physClient) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///serialIndex: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetBodyUniqueId")]
public static extern  int b3GetBodyUniqueId(IntPtr physClient, int serialIndex) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueId: int
    ///info: b3BodyInfo*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetBodyInfo")]
public static extern  int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetNumJoints")]
public static extern  int b3GetNumJoints(IntPtr physClient, int bodyId) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyIndex: int
    ///jointIndex: int
    ///info: b3JointInfo*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetJointInfo")]
public static extern  int b3GetJointInfo(IntPtr physClient, int bodyIndex, int jointIndex, ref b3JointInfo info) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetDynamicsInfoCommandInit")]
public static extern  System.IntPtr b3GetDynamicsInfoCommandInit(IntPtr physClient, int bodyUniqueId, int linkIndex) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///info: b3DynamicsInfo*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetDynamicsInfo")]
public static extern  int b3GetDynamicsInfo(IntPtr statusHandle, ref b3DynamicsInfo info) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitChangeDynamicsInfo")]
public static extern  System.IntPtr b3InitChangeDynamicsInfo(IntPtr physClient) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    ///mass: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetMass")]
public static extern  int b3ChangeDynamicsInfoSetMass(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double mass) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    ///localInertiaDiagonal: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetLocalInertiaDiagonal")]
public static extern  int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(IntPtr commandHandle, int bodyUniqueId, int linkIndex, ref double localInertiaDiagonal) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    ///lateralFriction: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetLateralFriction")]
public static extern  int b3ChangeDynamicsInfoSetLateralFriction(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    ///friction: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetSpinningFriction")]
public static extern  int b3ChangeDynamicsInfoSetSpinningFriction(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double friction) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    ///friction: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetRollingFriction")]
public static extern  int b3ChangeDynamicsInfoSetRollingFriction(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double friction) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    ///restitution: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetRestitution")]
public static extern  int b3ChangeDynamicsInfoSetRestitution(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double restitution) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linearDamping: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetLinearDamping")]
public static extern  int b3ChangeDynamicsInfoSetLinearDamping(IntPtr commandHandle, int bodyUniqueId, double linearDamping) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///angularDamping: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetAngularDamping")]
public static extern  int b3ChangeDynamicsInfoSetAngularDamping(IntPtr commandHandle, int bodyUniqueId, double angularDamping) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    ///contactStiffness: double
    ///contactDamping: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetContactStiffnessAndDamping")]
public static extern  int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double contactStiffness, double contactDamping) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    ///frictionAnchor: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetFrictionAnchor")]
public static extern  int b3ChangeDynamicsInfoSetFrictionAnchor(IntPtr commandHandle, int bodyUniqueId, int linkIndex, int frictionAnchor) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///parentBodyIndex: int
    ///parentJointIndex: int
    ///childBodyIndex: int
    ///childJointIndex: int
    ///info: b3JointInfo*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitCreateUserConstraintCommand")]
public static extern  System.IntPtr b3InitCreateUserConstraintCommand(IntPtr physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, ref b3JointInfo info) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusUserConstraintUniqueId")]
public static extern  int b3GetStatusUserConstraintUniqueId(IntPtr statusHandle) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///userConstraintUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitChangeUserConstraintCommand")]
public static extern  System.IntPtr b3InitChangeUserConstraintCommand(IntPtr physClient, int userConstraintUniqueId) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///jointChildPivot: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitChangeUserConstraintSetPivotInB")]
public static extern  int b3InitChangeUserConstraintSetPivotInB(IntPtr commandHandle, ref double jointChildPivot) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///jointChildFrameOrn: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitChangeUserConstraintSetFrameInB")]
public static extern  int b3InitChangeUserConstraintSetFrameInB(IntPtr commandHandle, ref double jointChildFrameOrn) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///maxAppliedForce: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitChangeUserConstraintSetMaxForce")]
public static extern  int b3InitChangeUserConstraintSetMaxForce(IntPtr commandHandle, double maxAppliedForce) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///gearRatio: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitChangeUserConstraintSetGearRatio")]
public static extern  int b3InitChangeUserConstraintSetGearRatio(IntPtr commandHandle, double gearRatio) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///gearAuxLink: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitChangeUserConstraintSetGearAuxLink")]
public static extern  int b3InitChangeUserConstraintSetGearAuxLink(IntPtr commandHandle, int gearAuxLink) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///relativePositionTarget: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitChangeUserConstraintSetRelativePositionTarget")]
public static extern  int b3InitChangeUserConstraintSetRelativePositionTarget(IntPtr commandHandle, double relativePositionTarget) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///erp: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitChangeUserConstraintSetERP")]
public static extern  int b3InitChangeUserConstraintSetERP(IntPtr commandHandle, double erp) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///userConstraintUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRemoveUserConstraintCommand")]
public static extern  System.IntPtr b3InitRemoveUserConstraintCommand(IntPtr physClient, int userConstraintUniqueId) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetNumUserConstraints")]
public static extern  int b3GetNumUserConstraints(IntPtr physClient) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///constraintUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitGetUserConstraintStateCommand")]
public static extern  System.IntPtr b3InitGetUserConstraintStateCommand(IntPtr physClient, int constraintUniqueId) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///constraintState: b3UserConstraintState*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusUserConstraintState")]
public static extern  int b3GetStatusUserConstraintState(IntPtr statusHandle, ref b3UserConstraintState constraintState) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///constraintUniqueId: int
    ///info: b3UserConstraint*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetUserConstraintInfo")]
public static extern  int b3GetUserConstraintInfo(IntPtr physClient, int constraintUniqueId, ref b3UserConstraint info) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///serialIndex: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetUserConstraintId")]
public static extern  int b3GetUserConstraintId(IntPtr physClient, int serialIndex) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///debugMode: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestDebugLinesCommand")]
public static extern  System.IntPtr b3InitRequestDebugLinesCommand(IntPtr physClient, int debugMode) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///lines: b3DebugLines*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetDebugLines")]
public static extern  void b3GetDebugLines(IntPtr physClient, ref b3DebugLines lines) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitConfigureOpenGLVisualizer")]
public static extern  System.IntPtr b3InitConfigureOpenGLVisualizer(IntPtr physClient) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///flag: int
    ///enabled: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ConfigureOpenGLVisualizerSetVisualizationFlags")]
public static extern  void b3ConfigureOpenGLVisualizerSetVisualizationFlags(IntPtr commandHandle, int flag, int enabled) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///cameraDistance: float
    ///cameraPitch: float
    ///cameraYaw: float
    ///cameraTargetPosition: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ConfigureOpenGLVisualizerSetViewMatrix")]
public static extern  void b3ConfigureOpenGLVisualizerSetViewMatrix(IntPtr commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, ref float cameraTargetPosition) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestOpenGLVisualizerCameraCommand")]
public static extern  System.IntPtr b3InitRequestOpenGLVisualizerCameraCommand(IntPtr physClient) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///camera: b3OpenGLVisualizerCameraInfo*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusOpenGLVisualizerCamera")]
public static extern  int b3GetStatusOpenGLVisualizerCamera(IntPtr statusHandle, ref b3OpenGLVisualizerCameraInfo camera) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///fromXYZ: double*
    ///toXYZ: double*
    ///colorRGB: double*
    ///lineWidth: double
    ///lifeTime: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitUserDebugDrawAddLine3D")]
public static extern  System.IntPtr b3InitUserDebugDrawAddLine3D(IntPtr physClient, ref double fromXYZ, ref double toXYZ, ref double colorRGB, double lineWidth, double lifeTime) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///txt: char*
    ///positionXYZ: double*
    ///colorRGB: double*
    ///textSize: double
    ///lifeTime: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitUserDebugDrawAddText3D")]
public static extern  System.IntPtr b3InitUserDebugDrawAddText3D(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string txt, ref double positionXYZ, ref double colorRGB, double textSize, double lifeTime) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///optionFlags: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3UserDebugTextSetOptionFlags")]
public static extern  void b3UserDebugTextSetOptionFlags(IntPtr commandHandle, int optionFlags) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///orientation: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3UserDebugTextSetOrientation")]
public static extern  void b3UserDebugTextSetOrientation(IntPtr commandHandle, ref double orientation) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///replaceItem: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3UserDebugItemSetReplaceItemUniqueId")]
public static extern  void b3UserDebugItemSetReplaceItemUniqueId(IntPtr commandHandle, int replaceItem) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///objectUniqueId: int
    ///linkIndex: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3UserDebugItemSetParentObject")]
public static extern  void b3UserDebugItemSetParentObject(IntPtr commandHandle, int objectUniqueId, int linkIndex) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///txt: char*
    ///rangeMin: double
    ///rangeMax: double
    ///startValue: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitUserDebugAddParameter")]
public static extern  System.IntPtr b3InitUserDebugAddParameter(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string txt, double rangeMin, double rangeMax, double startValue) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///debugItemUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitUserDebugReadParameter")]
public static extern  System.IntPtr b3InitUserDebugReadParameter(IntPtr physClient, int debugItemUniqueId) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///paramValue: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusDebugParameterValue")]
public static extern  int b3GetStatusDebugParameterValue(IntPtr statusHandle, ref double paramValue) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///debugItemUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitUserDebugDrawRemove")]
public static extern  System.IntPtr b3InitUserDebugDrawRemove(IntPtr physClient, int debugItemUniqueId) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitUserDebugDrawRemoveAll")]
public static extern  System.IntPtr b3InitUserDebugDrawRemoveAll(IntPtr physClient) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitDebugDrawingCommand")]
public static extern  System.IntPtr b3InitDebugDrawingCommand(IntPtr physClient) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///objectUniqueId: int
    ///linkIndex: int
    ///objectColorRGB: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetDebugObjectColor")]
public static extern  void b3SetDebugObjectColor(IntPtr commandHandle, int objectUniqueId, int linkIndex, ref double objectColorRGB) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///objectUniqueId: int
    ///linkIndex: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RemoveDebugObjectColor")]
public static extern  void b3RemoveDebugObjectColor(IntPtr commandHandle, int objectUniqueId, int linkIndex) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetDebugItemUniqueId")]
public static extern  int b3GetDebugItemUniqueId(IntPtr statusHandle) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestCameraImage")]
public static extern  System.IntPtr b3InitRequestCameraImage(IntPtr physClient) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///viewMatrix: float*
    ///projectionMatrix: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetCameraMatrices")]
public static extern  void b3RequestCameraImageSetCameraMatrices(IntPtr commandHandle, ref float viewMatrix, ref float projectionMatrix) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///width: int
    ///height: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetPixelResolution")]
public static extern  void b3RequestCameraImageSetPixelResolution(IntPtr commandHandle, int width, int height) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///lightDirection: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetLightDirection")]
public static extern  void b3RequestCameraImageSetLightDirection(IntPtr commandHandle, ref float lightDirection) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///lightColor: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetLightColor")]
public static extern  void b3RequestCameraImageSetLightColor(IntPtr commandHandle, ref float lightColor) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///lightDistance: float
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetLightDistance")]
public static extern  void b3RequestCameraImageSetLightDistance(IntPtr commandHandle, float lightDistance) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///lightAmbientCoeff: float
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetLightAmbientCoeff")]
public static extern  void b3RequestCameraImageSetLightAmbientCoeff(IntPtr commandHandle, float lightAmbientCoeff) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///lightDiffuseCoeff: float
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetLightDiffuseCoeff")]
public static extern  void b3RequestCameraImageSetLightDiffuseCoeff(IntPtr commandHandle, float lightDiffuseCoeff) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///lightSpecularCoeff: float
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetLightSpecularCoeff")]
public static extern  void b3RequestCameraImageSetLightSpecularCoeff(IntPtr commandHandle, float lightSpecularCoeff) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///hasShadow: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetShadow")]
public static extern  void b3RequestCameraImageSetShadow(IntPtr commandHandle, int hasShadow) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///renderer: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSelectRenderer")]
public static extern  void b3RequestCameraImageSelectRenderer(IntPtr commandHandle, int renderer) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///flags: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetFlags")]
public static extern  void b3RequestCameraImageSetFlags(IntPtr commandHandle, int flags) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///imageData: b3CameraImageData*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetCameraImageData")]
public static extern  void b3GetCameraImageData(IntPtr physClient, ref b3CameraImageData imageData) ;

    
    /// Return Type: void
    ///cameraPosition: float*
    ///cameraTargetPosition: float*
    ///cameraUp: float*
    ///viewMatrix: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ComputeViewMatrixFromPositions")]
public static extern  void b3ComputeViewMatrixFromPositions(ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp, ref float viewMatrix) ;

    
    /// Return Type: void
    ///cameraTargetPosition: float*
    ///distance: float
    ///yaw: float
    ///pitch: float
    ///roll: float
    ///upAxis: int
    ///viewMatrix: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ComputeViewMatrixFromYawPitchRoll")]
public static extern  void b3ComputeViewMatrixFromYawPitchRoll(ref float cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis, ref float viewMatrix) ;

    
    /// Return Type: void
    ///viewMatrix: float*
    ///cameraPosition: float*
    ///cameraTargetPosition: float*
    ///cameraUp: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ComputePositionFromViewMatrix")]
public static extern  void b3ComputePositionFromViewMatrix(ref float viewMatrix, ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp) ;

    
    /// Return Type: void
    ///left: float
    ///right: float
    ///bottom: float
    ///top: float
    ///nearVal: float
    ///farVal: float
    ///projectionMatrix: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ComputeProjectionMatrix")]
public static extern  void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, ref float projectionMatrix) ;

    
    /// Return Type: void
    ///fov: float
    ///aspect: float
    ///nearVal: float
    ///farVal: float
    ///projectionMatrix: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ComputeProjectionMatrixFOV")]
public static extern  void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, ref float projectionMatrix) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///cameraPosition: float*
    ///cameraTargetPosition: float*
    ///cameraUp: float*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetViewMatrix")]
public static extern  void b3RequestCameraImageSetViewMatrix(IntPtr commandHandle, ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///cameraTargetPosition: float*
    ///distance: float
    ///yaw: float
    ///pitch: float
    ///roll: float
    ///upAxis: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetViewMatrix2")]
public static extern  void b3RequestCameraImageSetViewMatrix2(IntPtr commandHandle, ref float cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///left: float
    ///right: float
    ///bottom: float
    ///top: float
    ///nearVal: float
    ///farVal: float
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetProjectionMatrix")]
public static extern  void b3RequestCameraImageSetProjectionMatrix(IntPtr commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///fov: float
    ///aspect: float
    ///nearVal: float
    ///farVal: float
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetFOVProjectionMatrix")]
public static extern  void b3RequestCameraImageSetFOVProjectionMatrix(IntPtr commandHandle, float fov, float aspect, float nearVal, float farVal) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestContactPointInformation")]
public static extern  System.IntPtr b3InitRequestContactPointInformation(IntPtr physClient) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueIdA: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetContactFilterBodyA")]
public static extern  void b3SetContactFilterBodyA(IntPtr commandHandle, int bodyUniqueIdA) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueIdB: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetContactFilterBodyB")]
public static extern  void b3SetContactFilterBodyB(IntPtr commandHandle, int bodyUniqueIdB) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///linkIndexA: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetContactFilterLinkA")]
public static extern  void b3SetContactFilterLinkA(IntPtr commandHandle, int linkIndexA) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///linkIndexB: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetContactFilterLinkB")]
public static extern  void b3SetContactFilterLinkB(IntPtr commandHandle, int linkIndexB) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///contactPointData: b3ContactInformation*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetContactPointInformation")]
public static extern  void b3GetContactPointInformation(IntPtr physClient, ref b3ContactInformation contactPointData) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitClosestDistanceQuery")]
public static extern  System.IntPtr b3InitClosestDistanceQuery(IntPtr physClient) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueIdA: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetClosestDistanceFilterBodyA")]
public static extern  void b3SetClosestDistanceFilterBodyA(IntPtr commandHandle, int bodyUniqueIdA) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///linkIndexA: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetClosestDistanceFilterLinkA")]
public static extern  void b3SetClosestDistanceFilterLinkA(IntPtr commandHandle, int linkIndexA) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueIdB: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetClosestDistanceFilterBodyB")]
public static extern  void b3SetClosestDistanceFilterBodyB(IntPtr commandHandle, int bodyUniqueIdB) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///linkIndexB: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetClosestDistanceFilterLinkB")]
public static extern  void b3SetClosestDistanceFilterLinkB(IntPtr commandHandle, int linkIndexB) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///distance: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetClosestDistanceThreshold")]
public static extern  void b3SetClosestDistanceThreshold(IntPtr commandHandle, double distance) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///contactPointInfo: b3ContactInformation*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetClosestPointInformation")]
public static extern  void b3GetClosestPointInformation(IntPtr physClient, ref b3ContactInformation contactPointInfo) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///aabbMin: double*
    ///aabbMax: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitAABBOverlapQuery")]
public static extern  System.IntPtr b3InitAABBOverlapQuery(IntPtr physClient, ref double aabbMin, ref double aabbMax) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///data: b3AABBOverlapData*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetAABBOverlapResults")]
public static extern  void b3GetAABBOverlapResults(IntPtr physClient, ref b3AABBOverlapData data) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueIdA: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestVisualShapeInformation")]
public static extern  System.IntPtr b3InitRequestVisualShapeInformation(IntPtr physClient, int bodyUniqueIdA) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///visualShapeInfo: b3VisualShapeInformation*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetVisualShapeInformation")]
public static extern  void b3GetVisualShapeInformation(IntPtr physClient, ref b3VisualShapeInformation visualShapeInfo) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueId: int
    ///linkIndex: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestCollisionShapeInformation")]
public static extern  System.IntPtr b3InitRequestCollisionShapeInformation(IntPtr physClient, int bodyUniqueId, int linkIndex) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///collisionShapeInfo: b3CollisionShapeInformation*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetCollisionShapeInformation")]
public static extern  void b3GetCollisionShapeInformation(IntPtr physClient, ref b3CollisionShapeInformation collisionShapeInfo) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///filename: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitLoadTexture")]
public static extern  System.IntPtr b3InitLoadTexture(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string filename) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusTextureUniqueId")]
public static extern  int b3GetStatusTextureUniqueId(IntPtr statusHandle) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///textureUniqueId: int
    ///width: int
    ///height: int
    ///rgbPixels: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateChangeTextureCommandInit")]
public static extern  System.IntPtr b3CreateChangeTextureCommandInit(IntPtr physClient, int textureUniqueId, int width, int height, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string rgbPixels) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueId: int
    ///jointIndex: int
    ///shapeIndex: int
    ///textureUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitUpdateVisualShape")]
public static extern  System.IntPtr b3InitUpdateVisualShape(IntPtr physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///rgbaColor: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3UpdateVisualShapeRGBAColor")]
public static extern  void b3UpdateVisualShapeRGBAColor(IntPtr commandHandle, ref double rgbaColor) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///specularColor: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3UpdateVisualShapeSpecularColor")]
public static extern  void b3UpdateVisualShapeSpecularColor(IntPtr commandHandle, ref double specularColor) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitPhysicsParamCommand")]
public static extern  System.IntPtr b3InitPhysicsParamCommand(IntPtr physClient) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///gravx: double
    ///gravy: double
    ///gravz: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetGravity")]
public static extern  int b3PhysicsParamSetGravity(IntPtr commandHandle, double gravx, double gravy, double gravz) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///timeStep: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetTimeStep")]
public static extern  int b3PhysicsParamSetTimeStep(IntPtr commandHandle, double timeStep) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///defaultContactERP: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetDefaultContactERP")]
public static extern  int b3PhysicsParamSetDefaultContactERP(IntPtr commandHandle, double defaultContactERP) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///defaultNonContactERP: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetDefaultNonContactERP")]
public static extern  int b3PhysicsParamSetDefaultNonContactERP(IntPtr commandHandle, double defaultNonContactERP) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///frictionERP: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetDefaultFrictionERP")]
public static extern  int b3PhysicsParamSetDefaultFrictionERP(IntPtr commandHandle, double frictionERP) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///numSubSteps: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetNumSubSteps")]
public static extern  int b3PhysicsParamSetNumSubSteps(IntPtr commandHandle, int numSubSteps) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///enableRealTimeSimulation: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetRealTimeSimulation")]
public static extern  int b3PhysicsParamSetRealTimeSimulation(IntPtr commandHandle, int enableRealTimeSimulation) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///numSolverIterations: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetNumSolverIterations")]
public static extern  int b3PhysicsParamSetNumSolverIterations(IntPtr commandHandle, int numSolverIterations) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///filterMode: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetCollisionFilterMode")]
public static extern  int b3PhysicsParamSetCollisionFilterMode(IntPtr commandHandle, int filterMode) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///useSplitImpulse: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetUseSplitImpulse")]
public static extern  int b3PhysicsParamSetUseSplitImpulse(IntPtr commandHandle, int useSplitImpulse) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///splitImpulsePenetrationThreshold: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetSplitImpulsePenetrationThreshold")]
public static extern  int b3PhysicsParamSetSplitImpulsePenetrationThreshold(IntPtr commandHandle, double splitImpulsePenetrationThreshold) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///contactBreakingThreshold: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetContactBreakingThreshold")]
public static extern  int b3PhysicsParamSetContactBreakingThreshold(IntPtr commandHandle, double contactBreakingThreshold) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///maxNumCmdPer1ms: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetMaxNumCommandsPer1ms")]
public static extern  int b3PhysicsParamSetMaxNumCommandsPer1ms(IntPtr commandHandle, int maxNumCmdPer1ms) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///enableFileCaching: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetEnableFileCaching")]
public static extern  int b3PhysicsParamSetEnableFileCaching(IntPtr commandHandle, int enableFileCaching) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///restitutionVelocityThreshold: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetRestitutionVelocityThreshold")]
public static extern  int b3PhysicsParamSetRestitutionVelocityThreshold(IntPtr commandHandle, double restitutionVelocityThreshold) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///enableConeFriction: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetEnableConeFriction")]
public static extern  int b3PhysicsParamSetEnableConeFriction(IntPtr commandHandle, int enableConeFriction) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///deterministicOverlappingPairs: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParameterSetDeterministicOverlappingPairs")]
public static extern  int b3PhysicsParameterSetDeterministicOverlappingPairs(IntPtr commandHandle, int deterministicOverlappingPairs) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestPhysicsParamCommand")]
public static extern  System.IntPtr b3InitRequestPhysicsParamCommand(IntPtr physClient) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///params: b3PhysicsSimulationParameters*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusPhysicsSimulationParameters")]
public static extern  int b3GetStatusPhysicsSimulationParameters(IntPtr statusHandle, ref b3PhysicsSimulationParameters @params) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///flags: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetInternalSimFlags")]
public static extern  int b3PhysicsParamSetInternalSimFlags(IntPtr commandHandle, int flags) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitStepSimulationCommand")]
public static extern  System.IntPtr b3InitStepSimulationCommand(IntPtr physClient) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitResetSimulationCommand")]
public static extern  System.IntPtr b3InitResetSimulationCommand(IntPtr physClient) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///urdfFileName: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadUrdfCommandInit")]
public static extern  System.IntPtr b3LoadUrdfCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string urdfFileName) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///startPosX: double
    ///startPosY: double
    ///startPosZ: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadUrdfCommandSetStartPosition")]
public static extern  int b3LoadUrdfCommandSetStartPosition(IntPtr commandHandle, double startPosX, double startPosY, double startPosZ) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///startOrnX: double
    ///startOrnY: double
    ///startOrnZ: double
    ///startOrnW: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadUrdfCommandSetStartOrientation")]
public static extern  int b3LoadUrdfCommandSetStartOrientation(IntPtr commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///useMultiBody: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadUrdfCommandSetUseMultiBody")]
public static extern  int b3LoadUrdfCommandSetUseMultiBody(IntPtr commandHandle, int useMultiBody) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///useFixedBase: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadUrdfCommandSetUseFixedBase")]
public static extern  int b3LoadUrdfCommandSetUseFixedBase(IntPtr commandHandle, int useFixedBase) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///flags: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadUrdfCommandSetFlags")]
public static extern  int b3LoadUrdfCommandSetFlags(IntPtr commandHandle, int flags) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///globalScaling: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadUrdfCommandSetGlobalScaling")]
public static extern  int b3LoadUrdfCommandSetGlobalScaling(IntPtr commandHandle, double globalScaling) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SaveStateCommandInit")]
public static extern  System.IntPtr b3SaveStateCommandInit(IntPtr physClient) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusGetStateId")]
public static extern  int b3GetStatusGetStateId(IntPtr statusHandle) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateCommandInit")]
public static extern  System.IntPtr b3LoadStateCommandInit(IntPtr physClient) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///stateId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateSetStateId")]
public static extern  int b3LoadStateSetStateId(IntPtr commandHandle, int stateId) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///fileName: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateSetFileName")]
public static extern  int b3LoadStateSetFileName(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///fileName: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBulletCommandInit")]
public static extern  System.IntPtr b3LoadBulletCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///fileName: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SaveBulletCommandInit")]
public static extern  System.IntPtr b3SaveBulletCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///fileName: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadMJCFCommandInit")]
public static extern  System.IntPtr b3LoadMJCFCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///flags: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadMJCFCommandSetFlags")]
public static extern  void b3LoadMJCFCommandSetFlags(IntPtr commandHandle, int flags) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyIndex: int
    ///jointPositionsQ: double*
    ///jointVelocitiesQdot: double*
    ///jointAccelerations: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseDynamicsCommandInit")]
public static extern  System.IntPtr b3CalculateInverseDynamicsCommandInit(IntPtr physClient, int bodyIndex, ref double jointPositionsQ, ref double jointVelocitiesQdot, ref double jointAccelerations) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///bodyUniqueId: int*
    ///dofCount: int*
    ///jointForces: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusInverseDynamicsJointForces")]
public static extern  int b3GetStatusInverseDynamicsJointForces(IntPtr statusHandle, ref int bodyUniqueId, ref int dofCount, ref double jointForces) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyIndex: int
    ///linkIndex: int
    ///localPosition: double*
    ///jointPositionsQ: double*
    ///jointVelocitiesQdot: double*
    ///jointAccelerations: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateJacobianCommandInit")]
public static extern  System.IntPtr b3CalculateJacobianCommandInit(IntPtr physClient, int bodyIndex, int linkIndex, ref double localPosition, ref double jointPositionsQ, ref double jointVelocitiesQdot, ref double jointAccelerations) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///dofCount: int*
    ///linearJacobian: double*
    ///angularJacobian: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusJacobian")]
public static extern  int b3GetStatusJacobian(IntPtr statusHandle, ref int dofCount, ref double linearJacobian, ref double angularJacobian) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyIndex: int
    ///jointPositionsQ: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateMassMatrixCommandInit")]
public static extern  System.IntPtr b3CalculateMassMatrixCommandInit(IntPtr physClient, int bodyIndex, ref double jointPositionsQ) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///dofCount: int*
    ///massMatrix: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusMassMatrix")]
public static extern  int b3GetStatusMassMatrix(IntPtr physClient, IntPtr statusHandle, ref int dofCount, ref double massMatrix) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyIndex: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsCommandInit")]
public static extern  System.IntPtr b3CalculateInverseKinematicsCommandInit(IntPtr physClient, int bodyIndex) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///endEffectorLinkIndex: int
    ///targetPosition: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsAddTargetPurePosition")]
public static extern  void b3CalculateInverseKinematicsAddTargetPurePosition(IntPtr commandHandle, int endEffectorLinkIndex, ref double targetPosition) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///endEffectorLinkIndex: int
    ///targetPosition: double*
    ///targetOrientation: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsAddTargetPositionWithOrientation")]
public static extern  void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(IntPtr commandHandle, int endEffectorLinkIndex, ref double targetPosition, ref double targetOrientation) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///numDof: int
    ///endEffectorLinkIndex: int
    ///targetPosition: double*
    ///lowerLimit: double*
    ///upperLimit: double*
    ///jointRange: double*
    ///restPose: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsPosWithNullSpaceVel")]
public static extern  void b3CalculateInverseKinematicsPosWithNullSpaceVel(IntPtr commandHandle, int numDof, int endEffectorLinkIndex, ref double targetPosition, ref double lowerLimit, ref double upperLimit, ref double jointRange, ref double restPose) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///numDof: int
    ///endEffectorLinkIndex: int
    ///targetPosition: double*
    ///targetOrientation: double*
    ///lowerLimit: double*
    ///upperLimit: double*
    ///jointRange: double*
    ///restPose: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsPosOrnWithNullSpaceVel")]
public static extern  void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(IntPtr commandHandle, int numDof, int endEffectorLinkIndex, ref double targetPosition, ref double targetOrientation, ref double lowerLimit, ref double upperLimit, ref double jointRange, ref double restPose) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///numDof: int
    ///jointDampingCoeff: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsSetJointDamping")]
public static extern  void b3CalculateInverseKinematicsSetJointDamping(IntPtr commandHandle, int numDof, ref double jointDampingCoeff) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///solver: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsSelectSolver")]
public static extern  void b3CalculateInverseKinematicsSelectSolver(IntPtr commandHandle, int solver) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///bodyUniqueId: int*
    ///dofCount: int*
    ///jointPositions: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusInverseKinematicsJointPositions")]
public static extern  int b3GetStatusInverseKinematicsJointPositions(IntPtr statusHandle, ref int bodyUniqueId, ref int dofCount, ref double jointPositions) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///sdfFileName: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSdfCommandInit")]
public static extern  System.IntPtr b3LoadSdfCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string sdfFileName) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///useMultiBody: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSdfCommandSetUseMultiBody")]
public static extern  int b3LoadSdfCommandSetUseMultiBody(IntPtr commandHandle, int useMultiBody) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///globalScaling: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSdfCommandSetUseGlobalScaling")]
public static extern  int b3LoadSdfCommandSetUseGlobalScaling(IntPtr commandHandle, double globalScaling) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///sdfFileName: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SaveWorldCommandInit")]
public static extern  System.IntPtr b3SaveWorldCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string sdfFileName) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///controlMode: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlCommandInit")]
public static extern  System.IntPtr b3JointControlCommandInit(IntPtr physClient, int controlMode) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueId: int
    ///controlMode: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlCommandInit2")]
public static extern  System.IntPtr b3JointControlCommandInit2(IntPtr physClient, int bodyUniqueId, int controlMode) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///qIndex: int
    ///value: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetDesiredPosition")]
public static extern  int b3JointControlSetDesiredPosition(IntPtr commandHandle, int qIndex, double value) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///dofIndex: int
    ///value: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetKp")]
public static extern  int b3JointControlSetKp(IntPtr commandHandle, int dofIndex, double value) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///dofIndex: int
    ///value: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetKd")]
public static extern  int b3JointControlSetKd(IntPtr commandHandle, int dofIndex, double value) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///dofIndex: int
    ///maximumVelocity: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetMaximumVelocity")]
public static extern  int b3JointControlSetMaximumVelocity(IntPtr commandHandle, int dofIndex, double maximumVelocity) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///dofIndex: int
    ///value: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetDesiredVelocity")]
public static extern  int b3JointControlSetDesiredVelocity(IntPtr commandHandle, int dofIndex, double value) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///dofIndex: int
    ///value: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetMaximumForce")]
public static extern  int b3JointControlSetMaximumForce(IntPtr commandHandle, int dofIndex, double value) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///dofIndex: int
    ///value: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetDesiredForceTorque")]
public static extern  int b3JointControlSetDesiredForceTorque(IntPtr commandHandle, int dofIndex, double value) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCollisionShapeCommandInit")]
public static extern  System.IntPtr b3CreateCollisionShapeCommandInit(IntPtr physClient) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///radius: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCollisionShapeAddSphere")]
public static extern  int b3CreateCollisionShapeAddSphere(IntPtr commandHandle, double radius) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///halfExtents: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCollisionShapeAddBox")]
public static extern  int b3CreateCollisionShapeAddBox(IntPtr commandHandle, ref double halfExtents) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///radius: double
    ///height: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCollisionShapeAddCapsule")]
public static extern  int b3CreateCollisionShapeAddCapsule(IntPtr commandHandle, double radius, double height) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///radius: double
    ///height: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCollisionShapeAddCylinder")]
public static extern  int b3CreateCollisionShapeAddCylinder(IntPtr commandHandle, double radius, double height) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///planeNormal: double*
    ///planeConstant: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCollisionShapeAddPlane")]
public static extern  int b3CreateCollisionShapeAddPlane(IntPtr commandHandle, ref double planeNormal, double planeConstant) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///fileName: char*
    ///meshScale: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCollisionShapeAddMesh")]
public static extern  int b3CreateCollisionShapeAddMesh(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName, ref double meshScale) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///shapeIndex: int
    ///flags: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCollisionSetFlag")]
public static extern  void b3CreateCollisionSetFlag(IntPtr commandHandle, int shapeIndex, int flags) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///shapeIndex: int
    ///childPosition: double*
    ///childOrientation: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateCollisionShapeSetChildTransform")]
public static extern  void b3CreateCollisionShapeSetChildTransform(IntPtr commandHandle, int shapeIndex, ref double childPosition, ref double childOrientation) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusCollisionShapeUniqueId")]
public static extern  int b3GetStatusCollisionShapeUniqueId(IntPtr statusHandle) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeCommandInit")]
public static extern  System.IntPtr b3CreateVisualShapeCommandInit(IntPtr physClient) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///radius: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddSphere")]
public static extern  int b3CreateVisualShapeAddSphere(IntPtr commandHandle, double radius) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///halfExtents: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddBox")]
public static extern  int b3CreateVisualShapeAddBox(IntPtr commandHandle, ref double halfExtents) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///radius: double
    ///height: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddCapsule")]
public static extern  int b3CreateVisualShapeAddCapsule(IntPtr commandHandle, double radius, double height) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///radius: double
    ///height: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddCylinder")]
public static extern  int b3CreateVisualShapeAddCylinder(IntPtr commandHandle, double radius, double height) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///planeNormal: double*
    ///planeConstant: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddPlane")]
public static extern  int b3CreateVisualShapeAddPlane(IntPtr commandHandle, ref double planeNormal, double planeConstant) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///fileName: char*
    ///meshScale: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddMesh")]
public static extern  int b3CreateVisualShapeAddMesh(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName, ref double meshScale) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///shapeIndex: int
    ///flags: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualSetFlag")]
public static extern  void b3CreateVisualSetFlag(IntPtr commandHandle, int shapeIndex, int flags) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///shapeIndex: int
    ///childPosition: double*
    ///childOrientation: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetChildTransform")]
public static extern  void b3CreateVisualShapeSetChildTransform(IntPtr commandHandle, int shapeIndex, ref double childPosition, ref double childOrientation) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///shapeIndex: int
    ///specularColor: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetSpecularColor")]
public static extern  void b3CreateVisualShapeSetSpecularColor(IntPtr commandHandle, int shapeIndex, ref double specularColor) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///shapeIndex: int
    ///rgbaColor: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetRGBAColor")]
public static extern  void b3CreateVisualShapeSetRGBAColor(IntPtr commandHandle, int shapeIndex, ref double rgbaColor) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusVisualShapeUniqueId")]
public static extern  int b3GetStatusVisualShapeUniqueId(IntPtr statusHandle) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateMultiBodyCommandInit")]
public static extern  System.IntPtr b3CreateMultiBodyCommandInit(IntPtr physClient) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///mass: double
    ///collisionShapeUnique: int
    ///visualShapeUniqueId: int
    ///basePosition: double*
    ///baseOrientation: double*
    ///baseInertialFramePosition: double*
    ///baseInertialFrameOrientation: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateMultiBodyBase")]
public static extern  int b3CreateMultiBodyBase(IntPtr commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, ref double basePosition, ref double baseOrientation, ref double baseInertialFramePosition, ref double baseInertialFrameOrientation) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///linkMass: double
    ///linkCollisionShapeIndex: double
    ///linkVisualShapeIndex: double
    ///linkPosition: double*
    ///linkOrientation: double*
    ///linkInertialFramePosition: double*
    ///linkInertialFrameOrientation: double*
    ///linkParentIndex: int
    ///linkJointType: int
    ///linkJointAxis: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateMultiBodyLink")]
public static extern  int b3CreateMultiBodyLink(IntPtr commandHandle, double linkMass, double linkCollisionShapeIndex, double linkVisualShapeIndex, ref double linkPosition, ref double linkOrientation, ref double linkInertialFramePosition, ref double linkInertialFrameOrientation, int linkParentIndex, int linkJointType, ref double linkJointAxis) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateMultiBodyUseMaximalCoordinates")]
public static extern  void b3CreateMultiBodyUseMaximalCoordinates(IntPtr commandHandle) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateBoxShapeCommandInit")]
public static extern  System.IntPtr b3CreateBoxShapeCommandInit(IntPtr physClient) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///startPosX: double
    ///startPosY: double
    ///startPosZ: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateBoxCommandSetStartPosition")]
public static extern  int b3CreateBoxCommandSetStartPosition(IntPtr commandHandle, double startPosX, double startPosY, double startPosZ) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///startOrnX: double
    ///startOrnY: double
    ///startOrnZ: double
    ///startOrnW: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateBoxCommandSetStartOrientation")]
public static extern  int b3CreateBoxCommandSetStartOrientation(IntPtr commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///halfExtentsX: double
    ///halfExtentsY: double
    ///halfExtentsZ: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateBoxCommandSetHalfExtents")]
public static extern  int b3CreateBoxCommandSetHalfExtents(IntPtr commandHandle, double halfExtentsX, double halfExtentsY, double halfExtentsZ) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///mass: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateBoxCommandSetMass")]
public static extern  int b3CreateBoxCommandSetMass(IntPtr commandHandle, double mass) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///collisionShapeType: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateBoxCommandSetCollisionShapeType")]
public static extern  int b3CreateBoxCommandSetCollisionShapeType(IntPtr commandHandle, int collisionShapeType) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///red: double
    ///green: double
    ///blue: double
    ///alpha: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateBoxCommandSetColorRGBA")]
public static extern  int b3CreateBoxCommandSetColorRGBA(IntPtr commandHandle, double red, double green, double blue, double alpha) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyIndex: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreatePoseCommandInit")]
public static extern  System.IntPtr b3CreatePoseCommandInit(IntPtr physClient, int bodyIndex) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///startPosX: double
    ///startPosY: double
    ///startPosZ: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreatePoseCommandSetBasePosition")]
public static extern  int b3CreatePoseCommandSetBasePosition(IntPtr commandHandle, double startPosX, double startPosY, double startPosZ) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///startOrnX: double
    ///startOrnY: double
    ///startOrnZ: double
    ///startOrnW: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreatePoseCommandSetBaseOrientation")]
public static extern  int b3CreatePoseCommandSetBaseOrientation(IntPtr commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///linVel: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreatePoseCommandSetBaseLinearVelocity")]
public static extern  int b3CreatePoseCommandSetBaseLinearVelocity(IntPtr commandHandle, ref double linVel) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///angVel: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreatePoseCommandSetBaseAngularVelocity")]
public static extern  int b3CreatePoseCommandSetBaseAngularVelocity(IntPtr commandHandle, ref double angVel) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///numJointPositions: int
    ///jointPositions: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreatePoseCommandSetJointPositions")]
public static extern  int b3CreatePoseCommandSetJointPositions(IntPtr commandHandle, int numJointPositions, ref double jointPositions) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///jointIndex: int
    ///jointPosition: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreatePoseCommandSetJointPosition")]
public static extern  int b3CreatePoseCommandSetJointPosition(IntPtr physClient, IntPtr commandHandle, int jointIndex, double jointPosition) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///numJointVelocities: int
    ///jointVelocities: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreatePoseCommandSetJointVelocities")]
public static extern  int b3CreatePoseCommandSetJointVelocities(IntPtr physClient, IntPtr commandHandle, int numJointVelocities, ref double jointVelocities) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///jointIndex: int
    ///jointVelocity: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreatePoseCommandSetJointVelocity")]
public static extern  int b3CreatePoseCommandSetJointVelocity(IntPtr physClient, IntPtr commandHandle, int jointIndex, double jointVelocity) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateSensorCommandInit")]
public static extern  System.IntPtr b3CreateSensorCommandInit(IntPtr physClient, int bodyUniqueId) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///jointIndex: int
    ///enable: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateSensorEnable6DofJointForceTorqueSensor")]
public static extern  int b3CreateSensorEnable6DofJointForceTorqueSensor(IntPtr commandHandle, int jointIndex, int enable) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///linkIndex: int
    ///enable: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateSensorEnableIMUForLink")]
public static extern  int b3CreateSensorEnableIMUForLink(IntPtr commandHandle, int linkIndex, int enable) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///bodyUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestActualStateCommandInit")]
public static extern  System.IntPtr b3RequestActualStateCommandInit(IntPtr physClient, int bodyUniqueId) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///computeLinkVelocity: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestActualStateCommandComputeLinkVelocity")]
public static extern  int b3RequestActualStateCommandComputeLinkVelocity(IntPtr commandHandle, int computeLinkVelocity) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///computeForwardKinematics: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestActualStateCommandComputeForwardKinematics")]
public static extern  int b3RequestActualStateCommandComputeForwardKinematics(IntPtr commandHandle, int computeForwardKinematics) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///jointIndex: int
    ///state: b3JointSensorState*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetJointState")]
public static extern  int b3GetJointState(IntPtr physClient, IntPtr statusHandle, int jointIndex, ref b3JointSensorState state) ;

    
    /// Return Type: int
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    ///linkIndex: int
    ///state: b3LinkState*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetLinkState")]
public static extern  int b3GetLinkState(IntPtr physClient, IntPtr statusHandle, int linkIndex, ref b3LinkState state) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///rayFromWorldX: double
    ///rayFromWorldY: double
    ///rayFromWorldZ: double
    ///rayToWorldX: double
    ///rayToWorldY: double
    ///rayToWorldZ: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PickBody")]
public static extern  System.IntPtr b3PickBody(IntPtr physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///rayFromWorldX: double
    ///rayFromWorldY: double
    ///rayFromWorldZ: double
    ///rayToWorldX: double
    ///rayToWorldY: double
    ///rayToWorldZ: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3MovePickedBody")]
public static extern  System.IntPtr b3MovePickedBody(IntPtr physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RemovePickingConstraint")]
public static extern  System.IntPtr b3RemovePickingConstraint(IntPtr physClient) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///rayFromWorldX: double
    ///rayFromWorldY: double
    ///rayFromWorldZ: double
    ///rayToWorldX: double
    ///rayToWorldY: double
    ///rayToWorldZ: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateRaycastCommandInit")]
public static extern  System.IntPtr b3CreateRaycastCommandInit(IntPtr physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateRaycastBatchCommandInit")]
public static extern  System.IntPtr b3CreateRaycastBatchCommandInit(IntPtr physClient) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///rayFromWorld: double*
    ///rayToWorld: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RaycastBatchAddRay")]
public static extern  void b3RaycastBatchAddRay(IntPtr commandHandle, ref double rayFromWorld, ref double rayToWorld) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///raycastInfo: b3RaycastInformation*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetRaycastInformation")]
public static extern  void b3GetRaycastInformation(IntPtr physClient, ref b3RaycastInformation raycastInfo) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ApplyExternalForceCommandInit")]
public static extern  System.IntPtr b3ApplyExternalForceCommandInit(IntPtr physClient) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkId: int
    ///force: double*
    ///position: double*
    ///flag: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ApplyExternalForce")]
public static extern  void b3ApplyExternalForce(IntPtr commandHandle, int bodyUniqueId, int linkId, ref double force, ref double position, int flag) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyUniqueId: int
    ///linkId: int
    ///torque: double*
    ///flag: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ApplyExternalTorque")]
public static extern  void b3ApplyExternalTorque(IntPtr commandHandle, int bodyUniqueId, int linkId, ref double torque, int flag) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///fileName: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodyCommandInit")]
public static extern  System.IntPtr b3LoadSoftBodyCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///scale: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetScale")]
public static extern  int b3LoadSoftBodySetScale(IntPtr commandHandle, double scale) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///mass: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetMass")]
public static extern  int b3LoadSoftBodySetMass(IntPtr commandHandle, double mass) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///collisionMargin: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetCollisionMargin")]
public static extern  int b3LoadSoftBodySetCollisionMargin(IntPtr commandHandle, double collisionMargin) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestVREventsCommandInit")]
public static extern  System.IntPtr b3RequestVREventsCommandInit(IntPtr physClient) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///deviceTypeFilter: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3VREventsSetDeviceTypeFilter")]
public static extern  void b3VREventsSetDeviceTypeFilter(IntPtr commandHandle, int deviceTypeFilter) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///vrEventsData: b3VREventsData*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetVREventsData")]
public static extern  void b3GetVREventsData(IntPtr physClient, ref b3VREventsData vrEventsData) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetVRCameraStateCommandInit")]
public static extern  System.IntPtr b3SetVRCameraStateCommandInit(IntPtr physClient) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///rootPos: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetVRCameraRootPosition")]
public static extern  int b3SetVRCameraRootPosition(IntPtr commandHandle, ref double rootPos) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///rootOrn: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetVRCameraRootOrientation")]
public static extern  int b3SetVRCameraRootOrientation(IntPtr commandHandle, ref double rootOrn) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///objectUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetVRCameraTrackingObject")]
public static extern  int b3SetVRCameraTrackingObject(IntPtr commandHandle, int objectUniqueId) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///flag: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetVRCameraTrackingObjectFlag")]
public static extern  int b3SetVRCameraTrackingObjectFlag(IntPtr commandHandle, int flag) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestKeyboardEventsCommandInit")]
public static extern  System.IntPtr b3RequestKeyboardEventsCommandInit(IntPtr physClient) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///keyboardEventsData: b3KeyboardEventsData*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetKeyboardEventsData")]
public static extern  void b3GetKeyboardEventsData(IntPtr physClient, ref b3KeyboardEventsData keyboardEventsData) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestMouseEventsCommandInit")]
public static extern  System.IntPtr b3RequestMouseEventsCommandInit(IntPtr physClient) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///mouseEventsData: b3MouseEventsData*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetMouseEventsData")]
public static extern  void b3GetMouseEventsData(IntPtr physClient, ref b3MouseEventsData mouseEventsData) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingCommandInit")]
public static extern  System.IntPtr b3StateLoggingCommandInit(IntPtr physClient) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///loggingType: int
    ///fileName: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingStart")]
public static extern  int b3StateLoggingStart(IntPtr commandHandle, int loggingType, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///objectUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingAddLoggingObjectUniqueId")]
public static extern  int b3StateLoggingAddLoggingObjectUniqueId(IntPtr commandHandle, int objectUniqueId) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///maxLogDof: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingSetMaxLogDof")]
public static extern  int b3StateLoggingSetMaxLogDof(IntPtr commandHandle, int maxLogDof) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///linkIndexA: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingSetLinkIndexA")]
public static extern  int b3StateLoggingSetLinkIndexA(IntPtr commandHandle, int linkIndexA) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///linkIndexB: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingSetLinkIndexB")]
public static extern  int b3StateLoggingSetLinkIndexB(IntPtr commandHandle, int linkIndexB) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyAUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingSetBodyAUniqueId")]
public static extern  int b3StateLoggingSetBodyAUniqueId(IntPtr commandHandle, int bodyAUniqueId) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///bodyBUniqueId: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingSetBodyBUniqueId")]
public static extern  int b3StateLoggingSetBodyBUniqueId(IntPtr commandHandle, int bodyBUniqueId) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///deviceTypeFilter: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingSetDeviceTypeFilter")]
public static extern  int b3StateLoggingSetDeviceTypeFilter(IntPtr commandHandle, int deviceTypeFilter) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///logFlags: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingSetLogFlags")]
public static extern  int b3StateLoggingSetLogFlags(IntPtr commandHandle, int logFlags) ;

    
    /// Return Type: int
    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusLoggingUniqueId")]
public static extern  int b3GetStatusLoggingUniqueId(IntPtr statusHandle) ;

    
    /// Return Type: int
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///loggingUid: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3StateLoggingStop")]
public static extern  int b3StateLoggingStop(IntPtr commandHandle, int loggingUid) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///name: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ProfileTimingCommandInit")]
public static extern  System.IntPtr b3ProfileTimingCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name) ;

    
    /// Return Type: void
    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///duration: int
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetProfileTimingDuractionInMicroSeconds")]
public static extern  void b3SetProfileTimingDuractionInMicroSeconds(IntPtr commandHandle, int duration) ;

    
    /// Return Type: void
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///timeOutInSeconds: double
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetTimeOut")]
public static extern  void b3SetTimeOut(IntPtr physClient, double timeOutInSeconds) ;

    
    /// Return Type: double
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetTimeOut")]
public static extern  double b3GetTimeOut(IntPtr physClient) ;

    
    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
    ///path: char*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SetAdditionalSearchPath")]
public static extern  System.IntPtr b3SetAdditionalSearchPath(IntPtr physClient, System.IntPtr path) ;

    
    /// Return Type: void
    ///posA: double*
    ///ornA: double*
    ///posB: double*
    ///ornB: double*
    ///outPos: double*
    ///outOrn: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3MultiplyTransforms")]
public static extern  void b3MultiplyTransforms(ref double posA, ref double ornA, ref double posB, ref double ornB, ref double outPos, ref double outOrn) ;

    
    /// Return Type: void
    ///pos: double*
    ///orn: double*
    ///outPos: double*
    ///outOrn: double*
    [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InvertTransform")]
public static extern  void b3InvertTransform(ref double pos, ref double orn, ref double outPos, ref double outOrn) ;

}