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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

		public extern static dReal dGeomPlanePointDepth( dGeomID plane, dReal x, dReal y, dReal z );

		public extern static void dGeomRaySet( dGeomID ray, dReal px, dReal py, dReal pz,
			dReal dx, dReal dy, dReal dz );

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

		public static extern int dBoxBox( dVector3 p1, dMatrix3 R1,
		 dVector3 side1, dVector3 p2,
		 dMatrix3 R2, dVector3 side2,
		 ref dVector3 normal, ref dReal depth, ref int return_code,
		 int maxc, ref dContactGeom[] contact, int skip );

		public extern static void dGeomCapsuleGetParams( dGeomID capsule, ref dReal radius, ref dReal length );