public extern static void dBodySetFiniteRotationMode( dBodyID body, int mode );

		public extern static int dAreConnectedExcluding( dBodyID body1, dBodyID body2, int joint_type );

		public extern static bool DoCCDCast( dNeoAxisAdditionsID additions, dBodyID checkBodyID,
			int contactGroup, out float minDistance );

		/// <summary>
		/// Get the jointfeedback structure from the joint to get information about
		/// the forces applied by each joint.
		///
		/// 	The feedback information structure is defined as follows (NOTE: C# version listed here):
		/// 			public struct dJointFeedback {
		///					public dVector3 f1;		/* force that joint applies to body 1  */
		///					public dVector3 t1;		/* torque that joint applies to body 1 */
		///					public dVector3 f2;		/* force that joint applies to body 2  */
		///					public dVector3 t2;		/* torque that joint applies to body 2 */
		///				};
		///
		/// 	The dJointGetFeedback() function returns the current feedback structure pointer,
		/// 	or 0 if none is used (this is the default).
		/// 	TODO: Will passing 0 work or does something special have to be done?
		/// </summary>
		/// <returns>A dJointFeedback</returns>
		/// <param name="body">A  dBodyID</param>
		public static dJointFeedback dJointGetFeedback( dBodyID body )
		{
			unsafe
			{
				dJointFeedback* v = (dJointFeedback*)dJointGetFeedback_( body );
				return *v;
			}
		}

		public extern static int dConnectingJointList( dBodyID body1, dBodyID body2, out dJointID[] connectingJoints );

		public extern static void dBodySetAutoDisableTime( dBodyID body, dReal time );

		public extern static void dBodySetAutoDisableDefaults( dBodyID body );

		public extern static void dBodySetGravityMode( dBodyID b, int mode );

		public extern static int dBodyGetGravityMode( dBodyID b );

		public extern static int dBodyGetNumJoints( dBodyID b );

		public extern static dJointID dBodyGetJoint( dBodyID body, int index );

		public extern static void dBodyGetFiniteRotationAxis( dBodyID body, ref dVector3 result );

		public extern static void dBodySetFiniteRotationAxis( dBodyID body, dReal x, dReal y, dReal z );

		public extern static int dBodyGetFiniteRotationMode( dBodyID body );

		public extern static void dBodySetAutoDisableSteps( dBodyID body, int steps );

		public extern static void dBodyDisable( dBodyID body );

		public extern static int dBodyGetAutoDisableSteps( dBodyID body );

		public extern static int dBodyIsEnabled( dBodyID body );

		public extern static dReal dBodyGetAutoDisableTime( dBodyID body );

		public extern static void dBodySetAutoDisableFlag( dBodyID body, int do_auto_disable );