mirror of
https://github.com/bulletphysics/bullet3
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ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
105 lines
4.3 KiB
C
105 lines
4.3 KiB
C
#ifndef LW_COLLISION_C_API_H
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#define LW_COLLISION_C_API_H
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#define PL_DECLARE_HANDLE(name) \
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typedef struct name##__ \
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{ \
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int unused; \
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} * name
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#ifdef BT_USE_DOUBLE_PRECISION
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typedef double plReal;
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#else
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typedef float plReal;
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#endif
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typedef plReal plVector3[3];
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typedef plReal plQuaternion[4];
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/** Particular collision SDK (C-API) */
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PL_DECLARE_HANDLE(plCollisionSdkHandle);
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/** Collision world, belonging to some collision SDK (C-API)*/
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PL_DECLARE_HANDLE(plCollisionWorldHandle);
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/** Collision object that can be part of a collision World (C-API)*/
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PL_DECLARE_HANDLE(plCollisionObjectHandle);
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/** Collision Shape/Geometry, property of a collision object (C-API)*/
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PL_DECLARE_HANDLE(plCollisionShapeHandle);
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/* Collision SDK */
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extern plCollisionSdkHandle plCreateBullet2CollisionSdk();
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#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
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extern plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk();
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#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
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// extern plCollisionSdkHandle plCreateCustomCollisionSdk();
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extern void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle);
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//extern int plGetSdkWorldCreationIntParameter();
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//extern int plSetSdkWorldCreationIntParameter(int newValue);
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/* Collision World */
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extern plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle, int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
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extern void plDeleteCollisionWorld(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world);
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extern void plAddCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
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extern void plRemoveCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
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/* Collision Object */
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extern plCollisionObjectHandle plCreateCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape, plVector3 startPosition, plQuaternion startOrientation);
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extern void plDeleteCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle body);
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extern void plSetCollisionObjectTransform(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle objHandle, plVector3 startPosition, plQuaternion startOrientation);
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/* Collision Shape definition */
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extern plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius);
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extern plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis);
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extern plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle,
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plReal planeNormalX,
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plReal planeNormalY,
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plReal planeNormalZ,
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plReal planeConstant);
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extern plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle);
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extern void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn);
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extern void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
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/* Contact Results */
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struct lwContactPoint
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{
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plVector3 m_ptOnAWorld;
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plVector3 m_ptOnBWorld;
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plVector3 m_normalOnB;
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plReal m_distance;
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};
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/* Collision Filtering */
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typedef void (*plNearCallback)(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData,
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plCollisionObjectHandle objA, plCollisionObjectHandle objB);
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/* Collision Queries */
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extern int plCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
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lwContactPoint* pointsOut, int pointCapacity);
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extern void plWorldCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world,
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plNearCallback filter, void* userData);
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#ifdef __cplusplus
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}
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#endif
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#endif //LW_COLLISION_C_API_H
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