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#ifndef SOLID_H
#define SOLID_H
#include "solid_types.h"
#ifdef __cplusplus
extern "C" {
#endif
DT_DECLARE_HANDLE(DT_ObjectHandle);
DT_DECLARE_HANDLE(DT_SceneHandle);
DT_DECLARE_HANDLE(DT_ShapeHandle);
DT_DECLARE_HANDLE(DT_RespTableHandle);
typedef enum DT_ScalarType {
DT_FLOAT,
DT_DOUBLE
} DT_ScalarType;
typedef enum DT_ResponseType {
DT_NO_RESPONSE,
DT_SIMPLE_RESPONSE,
DT_WITNESSED_RESPONSE,
DT_DEPTH_RESPONSE,
} DT_ResponseType;
typedef struct DT_CollData {
DT_Vector3 point1;
DT_Vector3 point2;
DT_Vector3 normal;
} DT_CollData;
typedef void (*DT_ResponseCallback)(
void *client_data,
void *client_object1,
void *client_object2,
const DT_CollData *coll_data);
/* Shape definition, similar to OpenGL */
extern DT_ShapeHandle DT_Box(DT_Scalar x, DT_Scalar y, DT_Scalar z);
extern DT_ShapeHandle DT_Cone(DT_Scalar radius, DT_Scalar height);
extern DT_ShapeHandle DT_Cylinder(DT_Scalar radius, DT_Scalar height);
extern DT_ShapeHandle DT_Sphere(DT_Scalar radius);
extern DT_ShapeHandle DT_Ray(DT_Scalar x, DT_Scalar y, DT_Scalar z);
extern DT_ShapeHandle DT_NewComplexShape();
extern void DT_EndComplexShape();
extern DT_ShapeHandle DT_NewPolyhedron();
extern void DT_EndPolyhedron();
extern void DT_Begin();
extern void DT_End();
extern void DT_Vertex(DT_Scalar x, DT_Scalar y, DT_Scalar z);
/* Vertex arrays maintained by the client application can be accessed directly
by SUMO. For instance, you have a vertex struct in the client of the form:
struct Vertex {
float xyz[3];
float uv[2];
float normal[3];
};
And maintain vertex arrays e.g. as
struct Vertex vertices[328];
Within a Polyhedron or a ComplexShape you can use this data by specifying
DT_VertexBase(vertices, DT_FLOAT, sizeof(struct Vertex));
and refer to vertices in the array using
DT_VertexIndex(10);
or
DT_Index indices[5] = { 6, 4, 8, 1, 3 };
DT_VertexIndices(5, indices);
or even
DT_VertexRange(8, 4);
for the range 8, 9, 10, 11.
*/
extern void DT_SetVertexBase(const void *base, DT_ScalarType type,
DT_Size stride);
extern void DT_VertexIndex(DT_Index index);
extern void DT_VertexIndices(DT_Count count, const DT_Index *indices);
extern void DT_VertexRange(DT_Index first, DT_Count count);
/* currently not implemented */
extern void DT_ChangeVertexBase(DT_ShapeHandle shape, const void *base);
extern void DT_DeleteShape(DT_ShapeHandle shape);
/* Scene */
extern DT_SceneHandle DT_CreateScene();
extern void DT_DeleteScene(DT_SceneHandle scene);
extern void DT_AddObject(DT_SceneHandle scene, DT_ObjectHandle object);
extern void DT_RemoveObject(DT_SceneHandle scene, DT_ObjectHandle object);
/* Object */
extern DT_ObjectHandle DT_CreateObject(
void *client_object, /* pointer to object in client memory */
DT_ShapeHandle shape /* the shape or geometry of the object */
);
extern void DT_DeleteObject(DT_ObjectHandle object);
extern void DT_SetScaling(DT_ObjectHandle object, const DT_Vector3 scaling);
extern void DT_SetPosition(DT_ObjectHandle object, const DT_Vector3 position);
extern void DT_SetOrientation(DT_ObjectHandle object, const DT_Quaternion orientation);
extern void DT_SetMargin(DT_ObjectHandle object, DT_Scalar margin);
extern void DT_SetMatrixf(DT_ObjectHandle object, const float *m);
extern void DT_GetMatrixf(DT_ObjectHandle object, float *m);
extern void DT_SetMatrixd(DT_ObjectHandle object, const double *m);
extern void DT_GetMatrixd(DT_ObjectHandle object, double *m);
extern void DT_GetWorldCoord(DT_ObjectHandle object,
const DT_Vector3 local,
DT_Vector3 world);
extern DT_Scalar DT_GetClosestPair(DT_ObjectHandle object1, DT_ObjectHandle object2,
DT_Vector3 point1, DT_Vector3 point2);
/* Response, see SOLID user manual */
extern DT_RespTableHandle DT_CreateRespTable();
extern void DT_DeleteRespTable(DT_RespTableHandle respTable);
extern void DT_CallResponse(DT_RespTableHandle respTable,
DT_ObjectHandle object1,
DT_ObjectHandle object2,
const DT_CollData *coll_data);
extern void DT_SetDefaultResponse(DT_RespTableHandle respTable,
DT_ResponseCallback response,
DT_ResponseType type,
void *client_data);
extern void DT_ClearDefaultResponse(DT_RespTableHandle respTable);
extern void DT_SetObjectResponse(DT_RespTableHandle respTable,
DT_ObjectHandle object,
DT_ResponseCallback response,
DT_ResponseType type, void *client_data);
extern void DT_ClearObjectResponse(DT_RespTableHandle respTable,
DT_ObjectHandle object);
extern void DT_SetPairResponse(DT_RespTableHandle respTable,
DT_ObjectHandle object1,
DT_ObjectHandle object2,
DT_ResponseCallback response,
DT_ResponseType type,
void *client_data);
extern void DT_ClearPairResponse(DT_RespTableHandle respTable,
DT_ObjectHandle object1,
DT_ObjectHandle object2);
/* Perform a collision test for a given scene, using a response table */
extern DT_Count DT_Test(DT_SceneHandle scene, DT_RespTableHandle respTable);
extern void *DT_RayTest(DT_SceneHandle scene, void *ignore_client,
const DT_Vector3 from, const DT_Vector3 to,
DT_Vector3 spot, DT_Vector3 normal);
extern int DT_ObjectRayTest(DT_ObjectHandle object,
const DT_Vector3 from, const DT_Vector3 to,
DT_Vector3 spot, DT_Vector3 normal);
#ifdef __cplusplus
}
#endif
#endif
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