mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-11 01:40:10 +00:00
moved Bullet-C-Api.h to src, rather then include.
This commit is contained in:
ejcoumans
parent
574aad98bc
commit
8a1d556e93
@ -72,7 +72,7 @@
|
||||
|
||||
|
||||
//#include "../../include/Bullet-C-Api.h"
|
||||
#include "../include/Bullet-C-Api.h"
|
||||
#include "Bullet-C-Api.h"
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,135 +1,135 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
/*
|
||||
Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
|
||||
Work in progress, functionality will be added on demand.
|
||||
|
||||
If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
|
||||
*/
|
||||
|
||||
#ifndef BULLET_C_API_H
|
||||
#define BULLET_C_API_H
|
||||
|
||||
#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
|
||||
|
||||
typedef float plReal;
|
||||
typedef plReal plVector3[3];
|
||||
typedef plReal plQuaternion[4];
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Particular physics SDK */
|
||||
PL_DECLARE_HANDLE(plPhysicsSdkHandle);
|
||||
/* Dynamics world, belonging to some physics SDK */
|
||||
PL_DECLARE_HANDLE(plDynamicsWorldHandle);
|
||||
/* Rigid Body that can be part of a Dynamics World */
|
||||
PL_DECLARE_HANDLE(plRigidBodyHandle);
|
||||
/* Collision Shape/Geometry, property of a Rigid Body */
|
||||
PL_DECLARE_HANDLE(plCollisionShapeHandle);
|
||||
/* Constraint for Rigid Bodies */
|
||||
PL_DECLARE_HANDLE(plConstraintHandle);
|
||||
/* Triangle Mesh interface */
|
||||
PL_DECLARE_HANDLE(plMeshInterfaceHandle);
|
||||
|
||||
/*
|
||||
Create and Delete a Physics SDK
|
||||
*/
|
||||
|
||||
extern plPhysicsSdkHandle plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc.
|
||||
extern void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk);
|
||||
|
||||
/* Dynamics World */
|
||||
|
||||
extern plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);
|
||||
|
||||
extern void plDeleteDynamicsWorld(plDynamicsWorldHandle world);
|
||||
|
||||
extern void plStepSimulation(plDynamicsWorldHandle, plReal timeStep);
|
||||
|
||||
extern void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
|
||||
|
||||
extern void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
|
||||
|
||||
|
||||
/* Rigid Body */
|
||||
|
||||
extern plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape );
|
||||
|
||||
extern void plDeleteRigidBody(plRigidBodyHandle body);
|
||||
|
||||
|
||||
/* Collision Shape definition */
|
||||
|
||||
extern plCollisionShapeHandle plNewSphereShape(plReal radius);
|
||||
extern plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z);
|
||||
extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);
|
||||
extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
|
||||
extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
|
||||
extern plCollisionShapeHandle plNewCompoundShape();
|
||||
extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
|
||||
|
||||
extern void plDeleteShape(plCollisionShapeHandle shape);
|
||||
|
||||
/* Convex Meshes */
|
||||
extern plCollisionShapeHandle plNewConvexHullShape();
|
||||
extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
|
||||
/* Concave static triangle meshes */
|
||||
extern plMeshInterfaceHandle plNewMeshInterface();
|
||||
extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
|
||||
extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
|
||||
|
||||
extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
|
||||
|
||||
/* SOLID has Response Callback/Table/Management */
|
||||
/* PhysX has Triggers, User Callbacks and filtering */
|
||||
/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */
|
||||
|
||||
/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */
|
||||
/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */
|
||||
|
||||
/* get world transform */
|
||||
extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
|
||||
extern void plGetPosition(plRigidBodyHandle object,plVector3 position);
|
||||
extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation);
|
||||
|
||||
/* set world transform (position/orientation) */
|
||||
extern void plSetPosition(plRigidBodyHandle object, const plVector3 position);
|
||||
extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
|
||||
extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
|
||||
|
||||
typedef struct plRayCastResult {
|
||||
plRigidBodyHandle m_body;
|
||||
plCollisionShapeHandle m_shape;
|
||||
plVector3 m_positionWorld;
|
||||
plVector3 m_normalWorld;
|
||||
} plRayCastResult;
|
||||
|
||||
extern int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);
|
||||
|
||||
/* Sweep API */
|
||||
|
||||
/* extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */
|
||||
|
||||
/* Continuous Collision Detection API */
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif //BULLET_C_API_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
/*
|
||||
Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
|
||||
Work in progress, functionality will be added on demand.
|
||||
|
||||
If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
|
||||
*/
|
||||
|
||||
#ifndef BULLET_C_API_H
|
||||
#define BULLET_C_API_H
|
||||
|
||||
#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
|
||||
|
||||
typedef float plReal;
|
||||
typedef plReal plVector3[3];
|
||||
typedef plReal plQuaternion[4];
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Particular physics SDK */
|
||||
PL_DECLARE_HANDLE(plPhysicsSdkHandle);
|
||||
/* Dynamics world, belonging to some physics SDK */
|
||||
PL_DECLARE_HANDLE(plDynamicsWorldHandle);
|
||||
/* Rigid Body that can be part of a Dynamics World */
|
||||
PL_DECLARE_HANDLE(plRigidBodyHandle);
|
||||
/* Collision Shape/Geometry, property of a Rigid Body */
|
||||
PL_DECLARE_HANDLE(plCollisionShapeHandle);
|
||||
/* Constraint for Rigid Bodies */
|
||||
PL_DECLARE_HANDLE(plConstraintHandle);
|
||||
/* Triangle Mesh interface */
|
||||
PL_DECLARE_HANDLE(plMeshInterfaceHandle);
|
||||
|
||||
/*
|
||||
Create and Delete a Physics SDK
|
||||
*/
|
||||
|
||||
extern plPhysicsSdkHandle plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc.
|
||||
extern void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk);
|
||||
|
||||
/* Dynamics World */
|
||||
|
||||
extern plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);
|
||||
|
||||
extern void plDeleteDynamicsWorld(plDynamicsWorldHandle world);
|
||||
|
||||
extern void plStepSimulation(plDynamicsWorldHandle, plReal timeStep);
|
||||
|
||||
extern void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
|
||||
|
||||
extern void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
|
||||
|
||||
|
||||
/* Rigid Body */
|
||||
|
||||
extern plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape );
|
||||
|
||||
extern void plDeleteRigidBody(plRigidBodyHandle body);
|
||||
|
||||
|
||||
/* Collision Shape definition */
|
||||
|
||||
extern plCollisionShapeHandle plNewSphereShape(plReal radius);
|
||||
extern plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z);
|
||||
extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);
|
||||
extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
|
||||
extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
|
||||
extern plCollisionShapeHandle plNewCompoundShape();
|
||||
extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
|
||||
|
||||
extern void plDeleteShape(plCollisionShapeHandle shape);
|
||||
|
||||
/* Convex Meshes */
|
||||
extern plCollisionShapeHandle plNewConvexHullShape();
|
||||
extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
|
||||
/* Concave static triangle meshes */
|
||||
extern plMeshInterfaceHandle plNewMeshInterface();
|
||||
extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
|
||||
extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
|
||||
|
||||
extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
|
||||
|
||||
/* SOLID has Response Callback/Table/Management */
|
||||
/* PhysX has Triggers, User Callbacks and filtering */
|
||||
/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */
|
||||
|
||||
/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */
|
||||
/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */
|
||||
|
||||
/* get world transform */
|
||||
extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
|
||||
extern void plGetPosition(plRigidBodyHandle object,plVector3 position);
|
||||
extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation);
|
||||
|
||||
/* set world transform (position/orientation) */
|
||||
extern void plSetPosition(plRigidBodyHandle object, const plVector3 position);
|
||||
extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
|
||||
extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
|
||||
|
||||
typedef struct plRayCastResult {
|
||||
plRigidBodyHandle m_body;
|
||||
plCollisionShapeHandle m_shape;
|
||||
plVector3 m_positionWorld;
|
||||
plVector3 m_normalWorld;
|
||||
} plRayCastResult;
|
||||
|
||||
extern int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);
|
||||
|
||||
/* Sweep API */
|
||||
|
||||
/* extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */
|
||||
|
||||
/* Continuous Collision Detection API */
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif //BULLET_C_API_H
|
||||
|
||||
Loading…
Reference in New Issue
Block a user