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-/*
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2013 Blender Foundation,
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): Joshua Leung, Sergej Reich
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-/** \file RBI_api.h
- * \ingroup RigidBody
- * \brief Rigid Body API for interfacing with external Physics Engines
- */
-
-#ifndef __RB_API_H__
-#define __RB_API_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* API Notes:
- * Currently, this API is optimised for Bullet RigidBodies, and doesn't
- * take into account other Physics Engines. Some tweaking may be necessary
- * to allow other systems to be used, in particular there may be references
- * to datatypes that aren't used here...
- *
- * -- Joshua Leung (22 June 2010)
- */
-
-/* ********************************** */
-/* Partial Type Defines - Aliases for the type of data we store */
-
-// ----------
-
-/* Dynamics World */
-typedef struct rbDynamicsWorld rbDynamicsWorld;
-
-/* Rigid Body */
-typedef struct rbRigidBody rbRigidBody;
-
-/* Collision Shape */
-typedef struct rbCollisionShape rbCollisionShape;
-
-/* Mesh Data (for Collision Shapes of Meshes) */
-typedef struct rbMeshData rbMeshData;
-
-/* Constraint */
-typedef struct rbConstraint rbConstraint;
-
-/* ********************************** */
-/* Dynamics World Methods */
-
-/* Setup ---------------------------- */
-
-/* Create a new dynamics world instance */
-// TODO: add args to set the type of constraint solvers, etc.
-extern rbDynamicsWorld *RB_dworld_new(const float gravity[3]);
-
-/* Delete the given dynamics world, and free any extra data it may require */
-extern void RB_dworld_delete(rbDynamicsWorld *world);
-
-/* Settings ------------------------- */
-
-/* Gravity */
-extern void RB_dworld_get_gravity(rbDynamicsWorld *world, float g_out[3]);
-extern void RB_dworld_set_gravity(rbDynamicsWorld *world, const float g_in[3]);
-
-/* Constraint Solver */
-extern void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iterations);
-/* Split Impulse */
-extern void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse);
-
-/* Simulation ----------------------- */
-
-/* Step the simulation by the desired amount (in seconds) with extra controls on substep sizes and maximum substeps */
-extern void RB_dworld_step_simulation(rbDynamicsWorld *world, float timeStep, int maxSubSteps, float timeSubStep);
-
-/* Export -------------------------- */
-
-/* Exports the dynamics world to physics simulator's serialisation format */
-void RB_dworld_export(rbDynamicsWorld *world, const char *filename);
-
-/* ********************************** */
-/* Rigid Body Methods */
-
-/* Setup ---------------------------- */
-
-/* Add RigidBody to dynamics world */
-extern void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *body, int col_groups);
-
-/* Remove RigidBody from dynamics world */
-extern void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *body);
-
-/* ............ */
-
-/* Create new RigidBody instance */
-extern rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4]);
-
-/* Delete the given RigidBody instance */
-extern void RB_body_delete(rbRigidBody *body);
-
-/* Settings ------------------------- */
-
-/* 'Type' */
-extern void RB_body_set_type(rbRigidBody *body, int type, float mass);
-
-/* ............ */
-
-/* Collision Shape */
-extern void RB_body_set_collision_shape(rbRigidBody *body, rbCollisionShape *shape);
-
-/* ............ */
-
-/* Mass */
-extern float RB_body_get_mass(rbRigidBody *body);
-extern void RB_body_set_mass(rbRigidBody *body, float value);
-
-/* Friction */
-extern float RB_body_get_friction(rbRigidBody *body);
-extern void RB_body_set_friction(rbRigidBody *body, float value);
-
-/* Restitution */
-extern float RB_body_get_restitution(rbRigidBody *body);
-extern void RB_body_set_restitution(rbRigidBody *body, float value);
-
-/* Damping */
-extern float RB_body_get_linear_damping(rbRigidBody *body);
-extern void RB_body_set_linear_damping(rbRigidBody *body, float value);
-
-extern float RB_body_get_angular_damping(rbRigidBody *body);
-extern void RB_body_set_angular_damping(rbRigidBody *body, float value);
-
-extern void RB_body_set_damping(rbRigidBody *object, float linear, float angular);
-
-/* Sleeping Thresholds */
-extern float RB_body_get_linear_sleep_thresh(rbRigidBody *body);
-extern void RB_body_set_linear_sleep_thresh(rbRigidBody *body, float value);
-
-extern float RB_body_get_angular_sleep_thresh(rbRigidBody *body);
-extern void RB_body_set_angular_sleep_thresh(rbRigidBody *body, float value);
-
-extern void RB_body_set_sleep_thresh(rbRigidBody *body, float linear, float angular);
-
-/* Linear Velocity */
-extern void RB_body_get_linear_velocity(rbRigidBody *body, float v_out[3]);
-extern void RB_body_set_linear_velocity(rbRigidBody *body, const float v_in[3]);
-
-/* Angular Velocity */
-extern void RB_body_get_angular_velocity(rbRigidBody *body, float v_out[3]);
-extern void RB_body_set_angular_velocity(rbRigidBody *body, const float v_in[3]);
-
-/* Linear/Angular Factor, used to lock translation/roation axes */
-extern void RB_body_set_linear_factor(rbRigidBody *object, float x, float y, float z);
-extern void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z);
-
-/* Kinematic State */
-extern void RB_body_set_kinematic_state(rbRigidBody *body, int kinematic);
-
-/* RigidBody Interface - Rigid Body Activation States */
-extern int RB_body_get_activation_state(rbRigidBody *body);
-extern void RB_body_set_activation_state(rbRigidBody *body, int use_deactivation);
-extern void RB_body_activate(rbRigidBody *body);
-extern void RB_body_deactivate(rbRigidBody *body);
-
-
-/* Simulation ----------------------- */
-
-/* Get current transform matrix of RigidBody to use in Blender (OpenGL format) */
-extern void RB_body_get_transform_matrix(rbRigidBody *body, float m_out[4][4]);
-
-/* Set RigidBody's location and rotation */
-extern void RB_body_set_loc_rot(rbRigidBody *body, const float loc[3], const float rot[4]);
-/* Set RigidBody's local scaling */
-extern void RB_body_set_scale(rbRigidBody *body, const float scale[3]);
-
-/* ............ */
-
-/* Get RigidBody's position as vector */
-void RB_body_get_position(rbRigidBody *body, float v_out[3]);
-/* Get RigidBody's orientation as quaternion */
-void RB_body_get_orientation(rbRigidBody *body, float v_out[4]);
-
-/* ............ */
-
-extern void RB_body_apply_central_force(rbRigidBody *body, const float v_in[3]);
-
-/* ********************************** */
-/* Collision Shape Methods */
-
-/* Setup (Standard Shapes) ----------- */
-
-extern rbCollisionShape *RB_shape_new_box(float x, float y, float z);
-extern rbCollisionShape *RB_shape_new_sphere(float radius);
-extern rbCollisionShape *RB_shape_new_capsule(float radius, float height);
-extern rbCollisionShape *RB_shape_new_cone(float radius, float height);
-extern rbCollisionShape *RB_shape_new_cylinder(float radius, float height);
-
-/* Setup (Convex Hull) ------------ */
-
-extern rbCollisionShape *RB_shape_new_convex_hull(float *verts, int stride, int count, float margin, bool *can_embed);
-
-/* Setup (Triangle Mesh) ---------- */
-
-/* 1 */
-extern rbMeshData *RB_trimesh_data_new(void);
-extern void RB_trimesh_add_triangle(rbMeshData *mesh, const float v1[3], const float v2[3], const float v3[3]);
-/* 2a - Triangle Meshes */
-extern rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh);
-/* 2b - GImpact Meshes */
-extern rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh);
-
-
-/* Cleanup --------------------------- */
-
-extern void RB_shape_delete(rbCollisionShape *shape);
-
-/* Settings --------------------------- */
-
-/* Collision Margin */
-extern float RB_shape_get_margin(rbCollisionShape *shape);
-extern void RB_shape_set_margin(rbCollisionShape *shape, float value);
-
-/* ********************************** */
-/* Constraints */
-
-/* Setup ----------------------------- */
-
-/* Add Rigid Body Constraint to simulation world */
-extern void RB_dworld_add_constraint(rbDynamicsWorld *world, rbConstraint *con, int disable_collisions);
-
-/* Remove Rigid Body Constraint from simulation world */
-extern void RB_dworld_remove_constraint(rbDynamicsWorld *world, rbConstraint *con);
-
-extern rbConstraint *RB_constraint_new_point(float pivot[3], rbRigidBody *rb1, rbRigidBody *rb2);
-extern rbConstraint *RB_constraint_new_fixed(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
-extern rbConstraint *RB_constraint_new_hinge(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
-extern rbConstraint *RB_constraint_new_slider(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
-extern rbConstraint *RB_constraint_new_piston(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
-extern rbConstraint *RB_constraint_new_6dof(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
-extern rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
-
-/* ............ */
-
-/* Cleanup --------------------------- */
-
-extern void RB_constraint_delete(rbConstraint *con);
-
-/* Settings --------------------------- */
-
-/* Enable or disable constraint */
-extern void RB_constraint_set_enabled(rbConstraint *con, int enabled);
-
-/* Limits */
-#define RB_LIMIT_LIN_X 0
-#define RB_LIMIT_LIN_Y 1
-#define RB_LIMIT_LIN_Z 2
-#define RB_LIMIT_ANG_X 3
-#define RB_LIMIT_ANG_Y 4
-#define RB_LIMIT_ANG_Z 5
-/* Bullet uses the following convention:
- * - lower limit == upper limit -> axis is locked
- * - lower limit > upper limit -> axis is free
- * - lower limit < upper limit -> axis is limited in given range
- */
-extern void RB_constraint_set_limits_hinge(rbConstraint *con, float lower, float upper);
-extern void RB_constraint_set_limits_slider(rbConstraint *con, float lower, float upper);
-extern void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper);
-extern void RB_constraint_set_limits_6dof(rbConstraint *con, float axis, float lower, float upper);
-
-/* 6dof spring specific */
-extern void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, float axis, float stiffness);
-extern void RB_constraint_set_damping_6dof_spring(rbConstraint *con, float axis, float damping);
-extern void RB_constraint_set_spring_6dof_spring(rbConstraint *con, float axis, int enable);
-extern void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con);
-
-/* Set number of constraint solver iterations made per step, this overrided world setting
- * To use default set it to -1 */
-extern void RB_constraint_set_solver_iterations(rbConstraint *con, int num_solver_iterations);
-
-/* Set breaking impulse threshold, if constraint shouldn't break it can be set to FLT_MAX */
-extern void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold);
-
-/* ********************************** */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __RB_API_H__ */
-
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