added first draft of C-API, btConvexHullShape takes float* instead of btPoint*, added getGravity to btRigidBody

Demos/BspDemo/BspDemo.cpp

@@ -70,7 +70,7 @@ public:
 				startTransform.setIdentity();
 				startTransform.setOrigin(btVector3(0,0,-10.f));
 				//this create an internal copy of the vertices
-				btCollisionShape* shape = new btConvexHullShape(&vertices[0],vertices.size());
+				btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
 
 				btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
 			}

Demos/OpenPL_Demo/CApi.cpp

@@ -0,0 +1,159 @@
+/*
+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 <src/btBulletDynamicsCommon.h>
+*/
+
+#include "Bullet-C-Api.h"
+#include "btBulletDynamicsCommon.h"
+
+/*
+	Create and Delete a Physics SDK	
+*/
+
+plPhysicsSdkHandle	plNewBulletSdk()
+{
+	return 0;
+}
+
+void		plDeletePhysicsSdk(plPhysicsSdkHandle	physicsSdk)
+{
+	
+}
+
+/* Dynamics World */
+plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk)
+{
+	return (plDynamicsWorldHandle) new btDiscreteDynamicsWorld;
+}
+void           plDeleteDynamicsWorld(plDynamicsWorldHandle world)
+{
+	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
+	delete dynamicsWorld;
+}
+
+void	plStepSimulation(plDynamicsWorldHandle world,	plReal	timeStep)
+{
+	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
+	assert(dynamicsWorld);
+	dynamicsWorld->stepSimulation(timeStep);
+}
+
+void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
+{
+	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
+	assert(dynamicsWorld);
+	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
+	assert(body);
+
+	dynamicsWorld->addRigidBody(body);
+}
+
+void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
+{
+	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
+	assert(dynamicsWorld);
+	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
+	assert(body);
+
+	dynamicsWorld->removeRigidBody(body);
+}
+
+/* Rigid Body  */
+
+plRigidBodyHandle plCreateRigidBody(	void* user_data,  float mass, plCollisionShapeHandle cshape )
+{
+	btTransform trans;
+	trans.setIdentity();
+	btVector3 localInertia;
+	btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
+	assert(shape);
+	shape->calculateLocalInertia(mass,localInertia);
+	btRigidBody* body = new btRigidBody(mass, trans,shape,localInertia);
+	body->m_userObjectPointer = user_data;
+	return (plRigidBodyHandle) body;
+}
+
+void plDeleteRigidBody(plRigidBodyHandle cbody)
+{
+	btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody);
+	assert(body);
+	delete body;
+}
+
+
+/* Collision Shape definition */
+
+plCollisionShapeHandle plNewSphereShape(plReal radius)
+{
+	return (plCollisionShapeHandle) new btSphereShape(radius);
+	
+}
+	
+plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z)
+{
+	return (plCollisionShapeHandle) new btBoxShape(btVector3(x,y,z));
+}
+
+plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height)
+{
+	//capsule is convex hull of 2 spheres, so use btMultiSphereShape
+	btVector3 inertiaHalfExtents(radius,height,radius);
+	const int numSpheres = 2;
+	btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)};
+	btScalar radi[numSpheres] = {radius,radius};
+	return (plCollisionShapeHandle) new btMultiSphereShape(inertiaHalfExtents,positions,radi,numSpheres);
+}
+plCollisionShapeHandle plNewConeShape(plReal radius, plReal height)
+{
+	return (plCollisionShapeHandle) new btConeShape(radius,height);
+}
+
+plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height)
+{
+	return (plCollisionShapeHandle) new btCylinderShape(btVector3(radius,height,radius));
+}
+
+void plDeleteShape(plCollisionShapeHandle cshape)
+{
+	btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
+	assert(shape);
+	delete shape;
+}
+void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling)
+{
+	btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
+	assert(shape);
+	btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]);
+	shape->setLocalScaling(scaling);	
+}
+
+
+
+void plSetPosition(plRigidBodyHandle object, const plVector3 position)
+{
+}
+void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation)
+{
+}
+
+
+//plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
+
+//	extern  plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);

Demos/OpenPL_Demo/OpenPL_Demo.c

@@ -0,0 +1,44 @@
+
+#include "Bullet-C-Api.h"
+
+
+int main()
+{
+	float timeStep = 1.f/60.f;
+
+	/* initialize */ 
+	plPhysicsSdkHandle	sdk = plNewBulletSdk();
+	
+	plDynamicsWorldHandle world = plCreateDynamicsWorld(sdk);
+
+
+	float radius = 1.f;
+	plCollisionShapeHandle collisionShape = plNewSphereShape(radius);
+
+	void* user_data = 0;/* can point to a graphics object */
+
+	float mass = 1.f;
+
+	plRigidBodyHandle body = plCreateRigidBody(user_data, mass, collisionShape );
+
+	plAddRigidBody(world, body);
+
+	
+	
+	plStepSimulation(world,0.1f);
+
+	/* cleanup */
+
+	plRemoveRigidBody(world, body);
+
+
+	plDeleteRigidBody(body);
+
+	plDeleteShape( collisionShape);
+
+	plDeleteDynamicsWorld( world);
+
+	plDeletePhysicsSdk(sdk);
+
+	return 0;
+}

Demos/Raytracer/Raytracer.cpp

@@ -114,7 +114,7 @@ void	Raytracer::initPhysics()
 	};
 
 	// btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
-	btConvexHullShape* convexHullShape = new btConvexHullShape(positions,3);
+	btConvexHullShape* convexHullShape = new btConvexHullShape(&positions[0].getX(),3);
 
 
 	//choose shape

include/Bullet-C-Api.h

@@ -1,9 +1,118 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
-///This is just a placeholder for now.
-///
-///It will contain a C API for high-level Bullet Collision Detection and Physics library.
-///
-///for now, only C++ interface is available, see btBulletCollisionCommon.h and btBulletDynamicsCommon.h
-///
-///http://bullet.sf.net
+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);
+
+
+/*
+	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  void plDeleteShape(plCollisionShapeHandle shape);
+
+	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);
+
+	extern  void plSetPosition(plRigidBodyHandle object, const plVector3 position);
+	extern  void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
+
+	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
 

src/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -18,7 +18,8 @@ subject to the following restrictions:
 #include "LinearMath/btQuaternion.h"
 
 
-btConvexHullShape ::btConvexHullShape (btPoint3* points,int numPoints,int stride)
+
+btConvexHullShape ::btConvexHullShape (const float* points,int numPoints,int stride)
 {
 	m_points.resize(numPoints);
 	unsigned char* pointsBaseAddress = (unsigned char*)points;

src/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -30,7 +30,10 @@ class btConvexHullShape : public btPolyhedralConvexShape
 	std::vector<btPoint3>	m_points;
 
 public:
-	btConvexHullShape(btPoint3* points,int numPoints, int stride=sizeof(btPoint3));
+	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive float (x,y,z), the striding defines the number of bytes between each point, in memory.
+	///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
+	///btConvexHullShape make an internal copy of the points.
+	btConvexHullShape(const float* points=0,int numPoints=0, int stride=sizeof(btPoint3));
 
 	void addPoint(const btPoint3& point)
 	{

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -191,6 +191,12 @@ void	btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
 	}
 }
 
+
+void	btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
+{
+	removeCollisionObject(body);
+}
+
 void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
 {
 	body->setGravity(m_gravity);

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -126,6 +126,8 @@ public:
 
 	virtual void	addRigidBody(btRigidBody* body);
 
+	virtual void	removeRigidBody(btRigidBody* body);
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -56,6 +56,8 @@ class btDynamicsWorld : public btCollisionWorld
 
 		virtual void	addRigidBody(btRigidBody* body) = 0;
 
+		virtual void	removeRigidBody(btRigidBody* body) = 0;
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -89,6 +89,11 @@ public:
 	
 	void			setGravity(const btVector3& acceleration);  
 
+	const btVector3&	getGravity() const
+	{
+		return m_gravity;
+	}
+
 	void			setDamping(btScalar lin_damping, btScalar ang_damping);
 	
 	inline const btCollisionShape*	getCollisionShape() const {

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -89,6 +89,11 @@ void	btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
 	}
 }
 
+void	btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
+{
+	removeCollisionObject(body);
+}
+
 void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
 {
 	body->setGravity(m_gravity);

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -70,6 +70,8 @@ public:
 
 	virtual void	addRigidBody(btRigidBody* body);
 
+	virtual void	removeRigidBody(btRigidBody* body);
+	
 	virtual void	updateAabbs();
 };