102 lines
3.3 KiB
C
102 lines
3.3 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) typedef struct name##__ { int unused; } *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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#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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// extern plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk();
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// extern plCollisionSdkHandle plCreateCustomCollisionSdk();
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extern void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle);
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/* Collision World */
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extern plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle);
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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, void* user_data, plCollisionShapeHandle cshape );
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extern void plDeleteCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionObjectHandle body);
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/* Collision Shape definition */
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extern plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle sdk, plReal radius);
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extern plCollisionShapeHandle plNewCapsuleShape(plCollisionSdkHandle sdk, plReal radius, plReal height);
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extern plCollisionShapeHandle plNewPlaneShape(plCollisionSdkHandle sdk, 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 plNewCompoundShape(plCollisionSdkHandle sdk);
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extern void plAddChildShape(plCollisionSdkHandle sdk, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
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extern void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, 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 sdk, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB);
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/* Collision Queries */
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extern int plCollide(plCollisionSdkHandle sdk, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
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lwContactPoint* pointsOut, int pointCapacity);
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extern void plWorldCollide(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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