bullet3/examples/Collision/CollisionSdkC_Api.h

#ifndef LW_COLLISION_C_API_H
#define LW_COLLISION_C_API_H


#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name


#ifdef BT_USE_DOUBLE_PRECISION
typedef double  plReal;
#else
typedef float   plReal;
#endif

typedef plReal  plVector3[3];
typedef plReal  plQuaternion[4];

#ifdef __cplusplus
extern "C" {
#endif
	
	
	
	/**     Particular collision SDK (C-API) */
	PL_DECLARE_HANDLE(plCollisionSdkHandle);
	
	/**     Collision world, belonging to some collision SDK (C-API)*/
	PL_DECLARE_HANDLE(plCollisionWorldHandle);
	
	/** Collision object that can be part of a collision World (C-API)*/
	PL_DECLARE_HANDLE(plCollisionObjectHandle);
	
	/**     Collision Shape/Geometry, property of a collision object (C-API)*/
	PL_DECLARE_HANDLE(plCollisionShapeHandle);

	/* Collision SDK */
	
	extern plCollisionSdkHandle plCreateBullet2CollisionSdk();
	
	extern plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk();
//	extern plCollisionSdkHandle plCreateCustomCollisionSdk();
	
	extern void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle);

	//extern int plGetSdkWorldCreationIntParameter();
	//extern int plSetSdkWorldCreationIntParameter(int newValue);

	/* Collision World */
	
	extern  plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle, int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
	extern  void           plDeleteCollisionWorld(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world);
	
	
	extern  void plAddCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
	extern  void plRemoveCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
	
	
	/* Collision Object  */
	
	extern  plCollisionObjectHandle plCreateCollisionObject(  plCollisionSdkHandle sdkHandle,  plCollisionWorldHandle worldHandle, void* userPointer, int userIndex,  plCollisionShapeHandle cshape , plVector3 startPosition,plQuaternion startOrientation);
	extern  void plDeleteCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle body);
	extern  void plSetCollisionObjectTransform(  plCollisionSdkHandle sdkHandle,  plCollisionWorldHandle worldHandle, plCollisionObjectHandle objHandle, plVector3 startPosition,plQuaternion startOrientation);
	
	/* Collision Shape definition */
	
	extern  plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius);
	extern  plCollisionShapeHandle plNewCapsuleShape(plCollisionSdkHandle sdk,  plCollisionWorldHandle worldHandle, plReal radius, plReal height);
	extern  plCollisionShapeHandle plNewPlaneShape(plCollisionSdkHandle sdk,  plCollisionWorldHandle worldHandle, 
													plReal planeNormalX, 
													plReal planeNormalY, 
													plReal planeNormalZ, 
													plReal planeConstant);
	extern  plCollisionShapeHandle plNewCompoundShape(plCollisionSdkHandle sdk,plCollisionWorldHandle worldHandle);
	extern  void plAddChildShape(plCollisionSdkHandle sdk, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
	
	extern  void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
	
	
	
	/* Contact Results */
	
	struct lwContactPoint
	{
		plVector3 m_ptOnAWorld;
		plVector3 m_ptOnBWorld;
		plVector3 m_normalOnB;
		plReal  m_distance;
	};
	
	/* Collision Filtering */
	typedef void(*plNearCallback)(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData,
                                    plCollisionObjectHandle objA, plCollisionObjectHandle objB);
	
	
	/* Collision Queries */
	extern int plCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
						 lwContactPoint* pointsOut, int pointCapacity);
	
	extern void plWorldCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world,
							   plNearCallback filter, void* userData);
	
	
#ifdef __cplusplus
}
#endif


#endif //LW_COLLISION_C_API_H