public unsafe static OpenTK.Vector3 LocalGetSupportingVertexWithoutMargin(this TriangleMeshShape obj, ref OpenTK.Vector3 vec)
		{
			fixed (OpenTK.Vector3* vecPtr = &vec)
			{
				return obj.LocalGetSupportingVertexWithoutMargin(ref *(BulletSharp.Math.Vector3*)vecPtr).ToOpenTK();
			}
		}

		public unsafe static void SetGravity(this DynamicsWorld obj, ref OpenTK.Vector3 value)
		{
			fixed (OpenTK.Vector3* valuePtr = &value)
			{
				obj.Gravity = *(BulletSharp.Math.Vector3*)valuePtr;
			}
		}

		public unsafe static void GetAnchor(this Hinge2Constraint obj, out OpenTK.Vector3 value)
		{
			fixed (OpenTK.Vector3* valuePtr = &value)
			{
				*(BulletSharp.Math.Vector3*)valuePtr = obj.Anchor;
			}
		}

        public static void Init(OpenTK.Graphics.IGraphicsContext context, OpenTK.Platform.IWindowInfo wininf)
        {
            Graphics.context = context;
            Graphics.windowInfo = wininf;

            init = true;
        }

		public unsafe static void SetAppliedForceBodyB(this JointFeedback obj, ref OpenTK.Vector3 value)
		{
			fixed (OpenTK.Vector3* valuePtr = &value)
			{
				obj.AppliedForceBodyB = *(BulletSharp.Math.Vector3*)valuePtr;
			}
		}

        public unsafe static void GetPreferredPenetrationDirection(this ConvexShape obj, int index, out OpenTK.Vector3 penetrationVector)
		{
			fixed (OpenTK.Vector3* penetrationVectorPtr = &penetrationVector)
			{
                obj.GetPreferredPenetrationDirection(index, out *(BulletSharp.Math.Vector3*)penetrationVectorPtr);
			}
		}

		public unsafe static OpenTK.Vector3 LocalGetSupportVertexWithoutMarginNonVirtual(this ConvexShape obj, ref OpenTK.Vector3 vec)
		{
			fixed (OpenTK.Vector3* vecPtr = &vec)
			{
				return obj.LocalGetSupportVertexWithoutMarginNonVirtual(ref *(BulletSharp.Math.Vector3*)vecPtr).ToOpenTK();
			}
		}

        public override void OnRenderFrame(OpenTK.FrameEventArgs e)
        {
            bg.draw(e);
            txt.draw(e);

            base.OnRenderFrame(e);
        }

		public unsafe static void GetPivotInB(this Point2PointConstraint obj, out OpenTK.Vector3 value)
		{
			fixed (OpenTK.Vector3* valuePtr = &value)
			{
				*(BulletSharp.Math.Vector3*)valuePtr = obj.PivotInB;
			}
		}

		public unsafe static void SetHitPointInWorld(this VehicleRaycasterResult obj, ref OpenTK.Vector3 value)
		{
			fixed (OpenTK.Vector3* valuePtr = &value)
			{
				obj.HitPointInWorld = *(BulletSharp.Math.Vector3*)valuePtr;
			}
		}

		public unsafe static void GetHitNormalInWorld(this VehicleRaycasterResult obj, out OpenTK.Vector3 value)
		{
			fixed (OpenTK.Vector3* valuePtr = &value)
			{
				*(BulletSharp.Math.Vector3*)valuePtr = obj.HitNormalInWorld;
			}
		}

		public unsafe static void GetCachedSeparatingAxis(this GjkPairDetector obj, out OpenTK.Vector3 value)
		{
			fixed (OpenTK.Vector3* valuePtr = &value)
			{
				*(BulletSharp.Math.Vector3*)valuePtr = obj.CachedSeparatingAxis;
			}
		}

		public unsafe static void SetCachedSeparatingAxis(this GjkPairDetector obj, ref OpenTK.Vector3 seperatingAxis)
		{
			fixed (OpenTK.Vector3* seperatingAxisPtr = &seperatingAxis)
			{
				obj.CachedSeparatingAxis = *(BulletSharp.Math.Vector3*)seperatingAxisPtr;
			}
		}

		public unsafe static void GetLocalAabbMax(this TriangleMeshShape obj, out OpenTK.Vector3 value)
		{
			fixed (OpenTK.Vector3* valuePtr = &value)
			{
				*(BulletSharp.Math.Vector3*)valuePtr = obj.LocalAabbMax;
			}
		}

		public unsafe static bool IsInside(this PolyhedralConvexShape obj, ref OpenTK.Vector3 pt, float tolerance)
		{
			fixed (OpenTK.Vector3* ptPtr = &pt)
			{
				return obj.IsInside(ref *(BulletSharp.Math.Vector3*)ptPtr, tolerance);
			}
		}

		public unsafe static void SetPivotB(this Point2PointConstraint obj, ref OpenTK.Vector3 pivotB)
		{
			fixed (OpenTK.Vector3* pivotBPtr = &pivotB)
			{
				obj.PivotInB = *(BulletSharp.Math.Vector3*)pivotBPtr;
			}
		}

 /// <summary>
 /// x = distance |
 /// y = theta   
 /// </summary>
 /// <param name="coords"></param>
 /// <returns></returns>
 public static OpenTK.Vector2 GetPolarCoords(OpenTK.Vector2 value)
 {
     OpenTK.Vector2 vector = new OpenTK.Vector2(value.Length,(value.X != 0 ? (float)Math.Atan(value.Y / value.X) : (value.Y < 0 ? (float)Math.PI : 0))
         + (GetSign(value.X) == 1 ? 1.5f : 0.5f) * (float)Math.PI);//fix errors
     //fix errors
     return vector;
 }

        public override ModelBase LoadModel(OpenTK.Vector3 scale)
        {
            XmlDocument doc = new XmlDocument();
            doc.Load(m_ICAName);

            XmlNode node_anm_info = doc.SelectSingleNode("/ica/body/node_anm_info");
            ReadNodeAnmInfo(node_anm_info);

            XmlNode node_scale_data = doc.SelectSingleNode("/ica/body/node_scale_data");
            this.node_scale_data = ReadNodeTransformationData(node_scale_data);

            XmlNode node_rotate_data = doc.SelectSingleNode("/ica/body/node_rotate_data");
            this.node_rotate_data = ReadNodeTransformationData(node_rotate_data);
            ConvertRotateDataToRadians();

            XmlNode node_translate_data = doc.SelectSingleNode("/ica/body/node_translate_data");
            this.node_translate_data = ReadNodeTransformationData(node_translate_data);

            XmlNode node_anm_array = doc.SelectSingleNode("/ica/body/node_anm_array");
            ReadNodeAnimations(node_anm_array);

            m_Model.ScaleAnimations(scale);

            return m_Model;
        }

		public unsafe static OpenTK.Vector3 LocalGetSupportingVertex(this ConvexShape obj, ref OpenTK.Vector3 vec)
		{
			fixed (OpenTK.Vector3* vecPtr = &vec)
			{
				return obj.LocalGetSupportingVertex(ref *(BulletSharp.Math.Vector3*)vecPtr).ToOpenTK();
			}
		}

		public unsafe static void GetFrameOffsetB(this ConeTwistConstraint obj, out OpenTK.Matrix4 value)
		{
			fixed (OpenTK.Matrix4* valuePtr = &value)
			{
				*(BulletSharp.Math.Matrix*)valuePtr = obj.FrameOffsetB;
			}
		}