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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
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Work in progress, functionality will be added on demand.
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If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
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*/
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#ifndef BULLET_C_API_H
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#define BULLET_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 physics SDK (C-API) */
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PL_DECLARE_HANDLE(plPhysicsSdkHandle);
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/** Dynamics world, belonging to some physics SDK (C-API)*/
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PL_DECLARE_HANDLE(plDynamicsWorldHandle);
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/** Rigid Body that can be part of a Dynamics World (C-API)*/
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PL_DECLARE_HANDLE(plRigidBodyHandle);
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/** Collision Shape/Geometry, property of a Rigid Body (C-API)*/
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PL_DECLARE_HANDLE(plCollisionShapeHandle);
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/** Constraint for Rigid Bodies (C-API)*/
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PL_DECLARE_HANDLE(plConstraintHandle);
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/** Triangle Mesh interface (C-API)*/
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PL_DECLARE_HANDLE(plMeshInterfaceHandle);
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/** Broadphase Scene/Proxy Handles (C-API)*/
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PL_DECLARE_HANDLE(plCollisionBroadphaseHandle);
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PL_DECLARE_HANDLE(plBroadphaseProxyHandle);
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PL_DECLARE_HANDLE(plCollisionWorldHandle);
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/**
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Create and Delete a Physics SDK
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*/
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extern plPhysicsSdkHandle plNewBulletSdk(void); //this could be also another sdk, like ODE, PhysX etc.
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extern void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk);
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/** Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
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typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2);
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extern plCollisionBroadphaseHandle plCreateSapBroadphase(btBroadphaseCallback beginCallback,btBroadphaseCallback endCallback);
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extern void plDestroyBroadphase(plCollisionBroadphaseHandle bp);
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extern plBroadphaseProxyHandle plCreateProxy(plCollisionBroadphaseHandle bp, void* clientData, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
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extern void plDestroyProxy(plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle);
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extern void plSetBoundingBox(plBroadphaseProxyHandle proxyHandle, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
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/* todo: add pair cache support with queries like add/remove/find pair */
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extern plCollisionWorldHandle plCreateCollisionWorld(plPhysicsSdkHandle physicsSdk);
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/* todo: add/remove objects */
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/* Dynamics World */
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extern plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);
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extern void plDeleteDynamicsWorld(plDynamicsWorldHandle world);
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extern void plStepSimulation(plDynamicsWorldHandle, plReal timeStep);
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extern void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
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extern void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
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/* Rigid Body */
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extern plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape );
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extern void plDeleteRigidBody(plRigidBodyHandle body);
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/* Collision Shape definition */
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extern plCollisionShapeHandle plNewSphereShape(plReal radius);
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extern plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z);
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extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);
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extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
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extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
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extern plCollisionShapeHandle plNewCompoundShape(void);
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extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
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extern void plDeleteShape(plCollisionShapeHandle shape);
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/* Convex Meshes */
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extern plCollisionShapeHandle plNewConvexHullShape(void);
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extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
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/* Concave static triangle meshes */
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extern plMeshInterfaceHandle plNewMeshInterface(void);
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extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
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extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
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extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
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/* SOLID has Response Callback/Table/Management */
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/* PhysX has Triggers, User Callbacks and filtering */
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/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */
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/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */
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/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */
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/* get world transform */
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extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
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extern void plGetPosition(plRigidBodyHandle object,plVector3 position);
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extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation);
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/* set world transform (position/orientation) */
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extern void plSetPosition(plRigidBodyHandle object, const plVector3 position);
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extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
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extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
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extern void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
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typedef struct plRayCastResult {
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plRigidBodyHandle m_body;
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plCollisionShapeHandle m_shape;
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plVector3 m_positionWorld;
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plVector3 m_normalWorld;
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} plRayCastResult;
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extern int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);
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/* Sweep API */
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/* extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */
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/* Continuous Collision Detection API */
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// needed for source/blender/blenkernel/intern/collision.c
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double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
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#ifdef __cplusplus
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}
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#endif
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#endif //BULLET_C_API_H
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