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