/* Copyright (c) <2003-2011> * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages * arising from the use of this software. * * Permission is granted to anyone to use this software for any purpose, * including commercial applications, and to alter it and redistribute it * freely, subject to the following restrictions: * * 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. * * 2. Altered source versions must be plainly marked as such, and must not be * misrepresented as being the original software. * * 3. This notice may not be removed or altered from any source distribution. */ #ifndef __NEWTON_H_INCLUDED__ #define __NEWTON_H_INCLUDED__ #include "common/scummsys.h" #define NEWTON_MAJOR_VERSION 2 #define NEWTON_MINOR_VERSION 36 #define NEWTON_API #ifdef __USE_DOUBLE_PRECISION__ #define dFloat double #else #define dFloat float #endif #define dFloat64 double #ifdef __cplusplus extern "C" { #endif #define NEWTON_PROFILER_WORLD_UPDATE 0 #define NEWTON_PROFILER_COLLISION_UPDATE 1 #define NEWTON_PROFILER_COLLISION_UPDATE_BROAD_PHASE 2 #define NEWTON_PROFILER_COLLISION_UPDATE_NARROW_PHASE 3 #define NEWTON_PROFILER_DYNAMICS_UPDATE 4 #define NEWTON_PROFILER_DYNAMICS_CONSTRAINT_GRAPH 5 #define NEWTON_PROFILER_DYNAMICS_SOLVE_CONSTRAINT_GRAPH 6 #define NEWTON_PROFILER_FORCE_CALLBACK_UPDATE 7 class NewtonMesh; class NewtonBody; class NewtonWorld; class NewtonJoint; class NewtonMaterial; class NewtonCollision; class NewtonSceneProxy; class NewtonbreakableComponentMesh; // typedef struct NewtonRagDoll{} NewtonRagDoll; // typedef struct NewtonRagDollBone{} NewtonRagDollBone; #define SERIALIZE_ID_BOX 0 #define SERIALIZE_ID_CONE 1 #define SERIALIZE_ID_SPHERE 2 #define SERIALIZE_ID_CAPSULE 3 #define SERIALIZE_ID_CYLINDER 4 #define SERIALIZE_ID_COMPOUND 5 #define SERIALIZE_ID_CONVEXHULL 6 #define SERIALIZE_ID_CONVEXMODIFIER 7 #define SERIALIZE_ID_CHAMFERCYLINDER 8 #define SERIALIZE_ID_TREE 9 #define SERIALIZE_ID_NULL 10 #define SERIALIZE_ID_HEIGHTFIELD 11 #define SERIALIZE_ID_USERMESH 12 #define SERIALIZE_ID_SCENE 13 #define SERIALIZE_ID_COMPOUND_BREAKABLE 14 typedef struct NewtonBoxParam NewtonBoxParam; typedef struct NewtonConeParam NewtonConeParam; typedef struct NewtonSphereParam NewtonSphereParam; typedef struct NewtonCapsuleParam NewtonCapsuleParam; typedef struct NewtonCylinderParam NewtonCylinderParam; typedef struct NewtonConvexHullParam NewtonConvexHullParam; typedef struct NewtonCollisionTreeParam NewtonCollisionTreeParam; typedef struct NewtonSceneCollisionParam NewtonSceneCollisionParam; typedef struct NewtonChamferCylinderParam NewtonChamferCylinderParam; typedef struct NewtonCompoundCollisionParam NewtonCompoundCollisionParam; typedef struct NewtonConvexHullModifierParam NewtonConvexHullModifierParam; typedef struct NewtonHeightFieldCollisionParam NewtonHeightFieldCollisionParam; typedef struct NewtonCollisionInfoRecord NewtonCollisionInfoRecord; struct NewtonBoxParam { dFloat m_x; dFloat m_y; dFloat m_z; }; struct NewtonSphereParam { dFloat m_r0; dFloat m_r1; dFloat m_r2; }; struct NewtonCylinderParam { dFloat m_r0; dFloat m_r1; dFloat m_height; }; struct NewtonCapsuleParam { dFloat m_r0; dFloat m_r1; dFloat m_height; }; struct NewtonConeParam { dFloat m_r; dFloat m_height; }; struct NewtonChamferCylinderParam { dFloat m_r; dFloat m_height; }; struct NewtonConvexHullParam { int m_vertexCount; int m_vertexStrideInBytes; int m_faceCount; dFloat *m_vertex; }; struct NewtonConvexHullModifierParam { NewtonCollision *m_chidren; }; struct NewtonCompoundCollisionParam { int m_chidrenCount; NewtonCollision **m_chidren; }; struct NewtonCollisionTreeParam { int m_vertexCount; int m_indexCount; }; struct NewtonHeightFieldCollisionParam { int m_width; int m_height; int m_gridsDiagonals; dFloat m_horizonalScale; dFloat m_verticalScale; unsigned short *m_elevation; char *m_atributes; }; struct NewtonSceneCollisionParam { int m_childrenProxyCount; }; struct NewtonCollisionInfoRecord { dFloat m_offsetMatrix[4][4]; int m_collisionType; // tag id to identify the collision primitive int m_referenceCount; // the current reference count for this collision int m_collisionUserID; union { NewtonBoxParam m_box; NewtonConeParam m_cone; NewtonSphereParam m_sphere; NewtonCapsuleParam m_capsule; NewtonCylinderParam m_cylinder; NewtonChamferCylinderParam m_chamferCylinder; NewtonConvexHullParam m_convexHull; NewtonCompoundCollisionParam m_compoundCollision; NewtonConvexHullModifierParam m_convexHullModifier; NewtonCollisionTreeParam m_collisionTree; NewtonHeightFieldCollisionParam m_heightField; NewtonSceneCollisionParam m_sceneCollision; dFloat m_paramArray[64]; // user define collision can use this to store information }; }; typedef struct NewtonJointRecord NewtonJointRecord; typedef struct NewtonHingeSliderUpdateDesc NewtonHingeSliderUpdateDesc; typedef struct NewtonUserMeshCollisionRayHitDesc NewtonUserMeshCollisionRayHitDesc; typedef struct NewtonUserMeshCollisionCollideDesc NewtonUserMeshCollisionCollideDesc; typedef struct NewtonWorldConvexCastReturnInfo NewtonWorldConvexCastReturnInfo; struct NewtonJointRecord { dFloat m_attachmenMatrix_0[4][4]; dFloat m_attachmenMatrix_1[4][4]; dFloat m_minLinearDof[3]; dFloat m_maxLinearDof[3]; dFloat m_minAngularDof[3]; dFloat m_maxAngularDof[3]; const NewtonBody *m_attachBody_0; const NewtonBody *m_attachBody_1; dFloat m_extraParameters[16]; int m_bodiesCollisionOn; char m_descriptionType[32]; } ; struct NewtonUserMeshCollisionCollideDesc { dFloat m_boxP0[4]; // lower bounding box of intersection query in local space dFloat m_boxP1[4]; // upper bounding box of intersection query in local space int m_threadNumber; // current thread executing this query int m_faceCount; // the application should set here how many polygons intersect the query box int m_vertexStrideInBytes; // the application should set here the size of each vertex void *m_userData; // user data passed to the collision geometry at creation time dFloat *m_vertex; // the application should the pointer to the vertex array. int *m_userAttribute; // the application should set here the pointer to the user data, one for each face int *m_faceIndexCount; // the application should set here the pointer to the vertex count of each face. int *m_faceVertexIndex; // the application should set here the pointer index array for each vertex on a face. NewtonBody *m_objBody; // pointer to the colliding body NewtonBody *m_polySoupBody; // pointer to the rigid body owner of this collision tree }; struct NewtonWorldConvexCastReturnInfo { dFloat m_point[4]; // collision point in global space dFloat m_normal[4]; // surface normal at collision point in global space dFloat m_normalOnHitPoint[4]; // surface normal at the surface of the hit body, // is the same as the normal calculated by a ray cast hitting the body at the hit point dFloat m_penetration; // contact penetration at collision point int m_contactID; // collision ID at contact point const NewtonBody *m_hitBody; // body hit at contact point }; struct NewtonUserMeshCollisionRayHitDesc { dFloat m_p0[4]; // ray origin in collision local space dFloat m_p1[4]; // ray destination in collision local space dFloat m_normalOut[4]; // copy here the normal at the ray intersection int m_userIdOut; // copy here a user defined id for further feedback void *m_userData; // user data passed to the collision geometry at creation time }; struct NewtonHingeSliderUpdateDesc { dFloat m_accel; dFloat m_minFriction; dFloat m_maxFriction; dFloat m_timestep; } ; // Newton callback functions typedef void *(*NewtonAllocMemory)(int sizeInBytes); typedef void (*NewtonFreeMemory)(void *const ptr, int sizeInBytes); typedef void (*NewtonDestroyWorld)(const NewtonWorld *const newtonWorld); typedef unsigned(*NewtonGetTicksCountCallback)(); typedef void (*NewtonSerialize)(void *const serializeHandle, const void *buffer, size_t size); typedef void (*NewtonDeserialize)(void *const serializeHandle, void *buffer, size_t size); // user collision callbacks typedef void (*NewtonUserMeshCollisionDestroyCallback)(void *const userData); typedef void (*NewtonUserMeshCollisionCollideCallback)(NewtonUserMeshCollisionCollideDesc *const collideDescData); typedef dFloat(*NewtonUserMeshCollisionRayHitCallback)(NewtonUserMeshCollisionRayHitDesc *const lineDescData); typedef void (*NewtonUserMeshCollisionGetCollisionInfo)(void *const userData, NewtonCollisionInfoRecord *const infoRecord); typedef void (*NewtonUserMeshCollisionGetFacesInAABB)(void *const userData, const dFloat *const p0, const dFloat *const p1, const dFloat *const *const vertexArray, int32 *const vertexCount, int32 *const vertexStrideInBytes, const int32 *const indexList, int32 maxIndexCount, const int32 *const userDataList); typedef dFloat(*NewtonCollisionTreeRayCastCallback)(const NewtonBody *const body, const NewtonCollision *const treeCollision, dFloat interception, dFloat *normal, int faceId, void *usedData); typedef dFloat(*NewtonHeightFieldRayCastCallback)(const NewtonBody *const body, const NewtonCollision *const heightFieldCollision, dFloat interception, int row, int col, dFloat *normal, int faceId, void *usedData); // collision tree call back (obsoleted no recommended) typedef void (*NewtonTreeCollisionCallback)(const NewtonBody *const bodyWithTreeCollision, const NewtonBody *const body, int faceID, int vertexCount, const dFloat *const vertex, int vertexStrideInBytes); typedef void (*NewtonBodyDestructor)(const NewtonBody *const body); typedef void (*NewtonApplyForceAndTorque)(NewtonBody *const body, dFloat timestep, int32 threadIndex); typedef void (*NewtonSetTransform)(const NewtonBody *const body, const dFloat *const matrix, int32 threadIndex); typedef int (*NewtonIslandUpdate)(const NewtonWorld *const newtonWorld, const void *islandHandle, int bodyCount); typedef void (*NewtonBodyLeaveWorld)(const NewtonBody *const body, int threadIndex); typedef void (*NewtonDestroyBodyByExeciveForce)(const NewtonBody *const body, const NewtonJoint *const contact); typedef void (*NewtonCollisionDestructor)(const NewtonWorld *const newtonWorld, const NewtonCollision *const collision); typedef int (*NewtonCollisionCompoundBreakableCallback)(NewtonMesh *const mesh, void *const userData, dFloat *const planeMatrixOut); typedef int (*NewtonGetBuoyancyPlane)(const int32 collisionID, void *const context, const dFloat *const globalSpaceMatrix, dFloat *const globalSpacePlane); typedef unsigned(*NewtonWorldRayPrefilterCallback)(const NewtonBody *const body, const NewtonCollision *const collision, void *const userData); typedef dFloat(*NewtonWorldRayFilterCallback)(const NewtonBody *const body, const dFloat *const hitNormal, int collisionID, void *const userData, dFloat intersectParam); typedef int (*NewtonOnAABBOverlap)(const NewtonMaterial *const material, const NewtonBody *const body0, const NewtonBody *const body1, int32 threadIndex); typedef void (*NewtonContactsProcess)(const NewtonJoint *const contact, dFloat timestep, int32 threadIndex); typedef void (*NewtonBodyIterator)(const NewtonBody *const body, void *const userData); typedef void (*NewtonJointIterator)(const NewtonJoint *const joint, void *const userData); typedef void (*NewtonCollisionIterator)(void *const userData, int vertexCount, const dFloat *const faceArray, int faceId); typedef void (*NewtonBallCallBack)(const NewtonJoint *const ball, dFloat timestep); typedef unsigned(*NewtonHingeCallBack)(const NewtonJoint *const hinge, NewtonHingeSliderUpdateDesc *const desc); typedef unsigned(*NewtonSliderCallBack)(const NewtonJoint *const slider, NewtonHingeSliderUpdateDesc *const desc); typedef unsigned(*NewtonUniversalCallBack)(const NewtonJoint *const universal, NewtonHingeSliderUpdateDesc *const desc); typedef unsigned(*NewtonCorkscrewCallBack)(const NewtonJoint *const corkscrew, NewtonHingeSliderUpdateDesc *const desc); typedef void (*NewtonUserBilateralCallBack)(const NewtonJoint *const userJoint, dFloat timestep, int threadIndex); typedef void (*NewtonUserBilateralGetInfoCallBack)(const NewtonJoint *const userJoint, NewtonJointRecord *const info); typedef void (*NewtonConstraintDestructor)(const NewtonJoint *const me); // typedef void (*NewtonSetRagDollTransform) (const NewtonRagDollBone* const bone); // typedef void (*NewtonBodyActivationState) (const NewtonBody* const body, unsigned state); // typedef void (*NewtonVehicleTireUpdate) (const NewtonJoint* const vehicle, dFloat timestep); void NewtonInitGlobals(); void NewtonDestroyGlobals(); // ********************************************************************************************** // // world control functions // // ********************************************************************************************** NEWTON_API int NewtonWorldGetVersion(); NEWTON_API int NewtonWorldFloatSize(); NEWTON_API int NewtonGetMemoryUsed(); NEWTON_API void NewtonSetMemorySystem(NewtonAllocMemory malloc, NewtonFreeMemory mfree); NEWTON_API NewtonWorld *NewtonCreate(); NEWTON_API void NewtonDestroy(const NewtonWorld *const newtonWorld); NEWTON_API void NewtonDestroyAllBodies(const NewtonWorld *const newtonWorld); NEWTON_API void NewtonUpdate(NewtonWorld *const newtonWorld, dFloat timestep); NEWTON_API void NewtonInvalidateCache(NewtonWorld *const newtonWorld); NEWTON_API void NewtonCollisionUpdate(NewtonWorld *const newtonWorld); NEWTON_API void NewtonSetSolverModel(NewtonWorld *const newtonWorld, int model); NEWTON_API void NewtonSetPlatformArchitecture(NewtonWorld *const newtonWorld, int mode); NEWTON_API int NewtonGetPlatformArchitecture(const NewtonWorld *const newtonWorld, char *description); NEWTON_API void NewtonSetMultiThreadSolverOnSingleIsland(NewtonWorld *const newtonWorld, int mode); NEWTON_API int NewtonGetMultiThreadSolverOnSingleIsland(const NewtonWorld *const newtonWorld); NEWTON_API void NewtonSetPerformanceClock(NewtonWorld *const newtonWorld, NewtonGetTicksCountCallback callback); NEWTON_API unsigned NewtonReadPerformanceTicks(const NewtonWorld *const newtonWorld, unsigned performanceEntry); NEWTON_API unsigned NewtonReadThreadPerformanceTicks(const NewtonWorld *newtonWorld, unsigned threadIndex); NEWTON_API void NewtonWorldCriticalSectionLock(NewtonWorld *const newtonWorld); NEWTON_API void NewtonWorldCriticalSectionUnlock(NewtonWorld *const newtonWorld); NEWTON_API void NewtonSetThreadsCount(NewtonWorld *const newtonWorld, int threads); NEWTON_API int NewtonGetThreadsCount(const NewtonWorld *const newtonWorld); NEWTON_API int NewtonGetMaxThreadsCount(const NewtonWorld *const newtonWorld); NEWTON_API void NewtonSetFrictionModel(NewtonWorld *const newtonWorld, int model); NEWTON_API void NewtonSetMinimumFrameRate(NewtonWorld *const newtonWorld, dFloat frameRate); NEWTON_API void NewtonSetBodyLeaveWorldEvent(NewtonWorld *const newtonWorld, NewtonBodyLeaveWorld callback); NEWTON_API void NewtonSetWorldSize(NewtonWorld *const newtonWorld, const dFloat *const minPoint, const dFloat *const maxPoint); NEWTON_API void NewtonSetIslandUpdateEvent(NewtonWorld *const newtonWorld, NewtonIslandUpdate islandUpdate); NEWTON_API void NewtonSetCollisionDestructor(NewtonWorld *const newtonWorld, NewtonCollisionDestructor callback); NEWTON_API void NewtonSetDestroyBodyByExeciveForce(NewtonWorld *const newtonWorld, NewtonDestroyBodyByExeciveForce callback); // NEWTON_API void NewtonWorldForEachBodyDo (const NewtonWorld* const newtonWorld, NewtonBodyIterator callback); NEWTON_API void NewtonWorldForEachJointDo(const NewtonWorld *const newtonWorld, NewtonJointIterator callback, void *const userData); NEWTON_API void NewtonWorldForEachBodyInAABBDo(const NewtonWorld *const newtonWorld, const dFloat *const p0, const dFloat *const p1, NewtonBodyIterator callback, void *const userData); NEWTON_API void NewtonWorldSetUserData(NewtonWorld *const newtonWorld, void *const userData); NEWTON_API void *NewtonWorldGetUserData(const NewtonWorld *const newtonWorld); NEWTON_API void NewtonWorldSetDestructorCallBack(NewtonWorld *const newtonWorld, NewtonDestroyWorld destructor); NEWTON_API NewtonDestroyWorld NewtonWorldGetDestructorCallBack(const NewtonWorld *const newtonWorld); NEWTON_API void NewtonWorldRayCast(NewtonWorld *const newtonWorld, const dFloat *const p0, const dFloat *const p1, NewtonWorldRayFilterCallback filter, void *const userData, NewtonWorldRayPrefilterCallback prefilter); NEWTON_API int NewtonWorldConvexCast(NewtonWorld *const newtonWorld, const dFloat *const matrix, const dFloat *const target, NewtonCollision *shape, dFloat *const hitParam, void *const userData, NewtonWorldRayPrefilterCallback prefilter, NewtonWorldConvexCastReturnInfo *info, int maxContactsCount, int threadIndex); // world utility functions NEWTON_API int NewtonWorldGetBodyCount(const NewtonWorld *const newtonWorld); NEWTON_API int NewtonWorldGetConstraintCount(const NewtonWorld *const newtonWorld); // NEWTON_API int NewtonGetActiveBodiesCount(); // NEWTON_API int NewtonGetActiveConstraintsCount(); // NEWTON_API dFloat NewtonGetGlobalScale (const NewtonWorld* const newtonWorld); // ********************************************************************************************** // // Simulation islands // // ********************************************************************************************** NEWTON_API NewtonBody *NewtonIslandGetBody(const void *const island, int bodyIndex); NEWTON_API void NewtonIslandGetBodyAABB(const void *const island, int bodyIndex, dFloat *const p0, dFloat *const p1); // ********************************************************************************************** // // Physics Material Section // // ********************************************************************************************** NEWTON_API int NewtonMaterialCreateGroupID(NewtonWorld *const newtonWorld); NEWTON_API int NewtonMaterialGetDefaultGroupID(const NewtonWorld *const newtonWorld); NEWTON_API void NewtonMaterialDestroyAllGroupID(NewtonWorld *const newtonWorld); // material definitions that can not be overwritten in function callback NEWTON_API void *NewtonMaterialGetUserData(const NewtonWorld *const newtonWorld, int id0, int id1); NEWTON_API void NewtonMaterialSetSurfaceThickness(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat thickness); NEWTON_API void NewtonMaterialSetContinuousCollisionMode(const NewtonWorld *const newtonWorld, int id0, int id1, int state); NEWTON_API void NewtonMaterialSetCollisionCallback(const NewtonWorld *const newtonWorld, int id0, int id1, void *const userData, NewtonOnAABBOverlap aabbOverlap, NewtonContactsProcess process); NEWTON_API void NewtonMaterialSetDefaultSoftness(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat value); NEWTON_API void NewtonMaterialSetDefaultElasticity(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat elasticCoef); NEWTON_API void NewtonMaterialSetDefaultCollidable(const NewtonWorld *const newtonWorld, int id0, int id1, int state); NEWTON_API void NewtonMaterialSetDefaultFriction(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat staticFriction, dFloat kineticFriction); NEWTON_API NewtonMaterial *NewtonWorldGetFirstMaterial(const NewtonWorld *const newtonWorld); NEWTON_API NewtonMaterial *NewtonWorldGetNextMaterial(const NewtonWorld *const newtonWorld, NewtonMaterial *const material); NEWTON_API NewtonBody *NewtonWorldGetFirstBody(const NewtonWorld *const newtonWorld); NEWTON_API NewtonBody *NewtonWorldGetNextBody(const NewtonWorld *const newtonWorld, const NewtonBody *const curBody); // ********************************************************************************************** // // Physics Contact control functions // // ********************************************************************************************** NEWTON_API void *NewtonMaterialGetMaterialPairUserData(const NewtonMaterial *const material); NEWTON_API unsigned NewtonMaterialGetContactFaceAttribute(const NewtonMaterial *const material); NEWTON_API NewtonCollision *NewtonMaterialGetBodyCollidingShape(const NewtonMaterial *const material, const NewtonBody *const body); //NEWTON_API unsigned NewtonMaterialGetBodyCollisionID (const NewtonMaterial* const material, const NewtonBody* const body); NEWTON_API dFloat NewtonMaterialGetContactNormalSpeed(const NewtonMaterial *const material); NEWTON_API void NewtonMaterialGetContactForce(const NewtonMaterial *const material, NewtonBody *const body, dFloat *const force); NEWTON_API void NewtonMaterialGetContactPositionAndNormal(const NewtonMaterial *const material, NewtonBody *const body, dFloat *const posit, dFloat *const normal); NEWTON_API void NewtonMaterialGetContactTangentDirections(const NewtonMaterial *const material, NewtonBody *const body, dFloat *const dir0, dFloat *const dir1); NEWTON_API dFloat NewtonMaterialGetContactTangentSpeed(const NewtonMaterial *const material, int index); NEWTON_API void NewtonMaterialSetContactSoftness(NewtonMaterial *const material, dFloat softness); NEWTON_API void NewtonMaterialSetContactElasticity(NewtonMaterial *const material, dFloat restitution); NEWTON_API void NewtonMaterialSetContactFrictionState(NewtonMaterial *const material, int state, int index); NEWTON_API void NewtonMaterialSetContactFrictionCoef(NewtonMaterial *const material, dFloat staticFrictionCoef, dFloat kineticFrictionCoef, int index); NEWTON_API void NewtonMaterialSetContactNormalAcceleration(NewtonMaterial *const material, dFloat accel); NEWTON_API void NewtonMaterialSetContactNormalDirection(NewtonMaterial *const material, const dFloat *const directionVector); NEWTON_API void NewtonMaterialSetContactTangentAcceleration(NewtonMaterial *const material, dFloat accel, int index); NEWTON_API void NewtonMaterialContactRotateTangentDirections(NewtonMaterial *const material, const dFloat *const directionVector); // ********************************************************************************************** // // convex collision primitives creation functions // // ********************************************************************************************** NEWTON_API NewtonCollision *NewtonCreateNull(NewtonWorld *const newtonWorld); NEWTON_API NewtonCollision *NewtonCreateSphere(NewtonWorld *const newtonWorld, dFloat radiusX, dFloat radiusY, dFloat radiusZ, int shapeID, const dFloat *const offsetMatrix); NEWTON_API NewtonCollision *NewtonCreateBox(NewtonWorld *const newtonWorld, dFloat dx, dFloat dy, dFloat dz, int shapeID, const dFloat *const offsetMatrix); NEWTON_API NewtonCollision *NewtonCreateCone(NewtonWorld *const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat *const offsetMatrix); NEWTON_API NewtonCollision *NewtonCreateCapsule(NewtonWorld *const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat *const offsetMatrix); NEWTON_API NewtonCollision *NewtonCreateCylinder(NewtonWorld *const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat *const offsetMatrix); NEWTON_API NewtonCollision *NewtonCreateChamferCylinder(NewtonWorld *const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat *const offsetMatrix); NEWTON_API NewtonCollision *NewtonCreateConvexHull(NewtonWorld *const newtonWorld, int count, const dFloat *const vertexCloud, int strideInBytes, dFloat tolerance, int shapeID, const dFloat *const offsetMatrix); NEWTON_API NewtonCollision *NewtonCreateConvexHullFromMesh(const NewtonWorld *const newtonWorld, const NewtonMesh *const mesh, dFloat tolerance, int shapeID); NEWTON_API NewtonCollision *NewtonCreateConvexHullModifier(NewtonWorld *const newtonWorld, NewtonCollision *const convexHullCollision, int shapeID); NEWTON_API void NewtonConvexHullModifierGetMatrix(const NewtonCollision *const convexHullCollision, dFloat *const matrix); NEWTON_API void NewtonConvexHullModifierSetMatrix(NewtonCollision *const convexHullCollision, const dFloat *const matrix); NEWTON_API int NewtonCollisionIsTriggerVolume(const NewtonCollision *const convexCollision); NEWTON_API void NewtonCollisionSetAsTriggerVolume(NewtonCollision *convexCollision, int trigger); NEWTON_API void NewtonCollisionSetMaxBreakImpactImpulse(NewtonCollision *const convexHullCollision, dFloat maxImpactImpulse); NEWTON_API dFloat NewtonCollisionGetMaxBreakImpactImpulse(const NewtonCollision *const convexHullCollision); NEWTON_API void NewtonCollisionSetUserID(NewtonCollision *convexCollision, unsigned id); NEWTON_API unsigned NewtonCollisionGetUserID(NewtonCollision *const convexCollision); NEWTON_API int NewtonConvexHullGetFaceIndices(const NewtonCollision *const convexHullCollision, int face, int32 *const faceIndices); NEWTON_API dFloat NewtonConvexCollisionCalculateVolume(const NewtonCollision *const convexCollision); NEWTON_API void NewtonConvexCollisionCalculateInertialMatrix(const NewtonCollision *convexCollision, dFloat *const inertia, dFloat *const origin); NEWTON_API void NewtonCollisionMakeUnique(NewtonWorld *const newtonWorld, NewtonCollision *const collision); NEWTON_API void NewtonReleaseCollision(NewtonWorld *const newtonWorld, NewtonCollision *const collision); NEWTON_API int NewtonAddCollisionReference(NewtonCollision *const collision); // ********************************************************************************************** // // mass/spring/damper collision shape // // ********************************************************************************************** // NEWTON_API NewtonCollision* NewtonCreateSoftShape (const NewtonWorld* const newtonWorld); // NEWTON_API void NewtonSoftBodySetMassCount (const NewtonCollision* convexCollision, int count); // NEWTON_API void NewtonSoftBodySetSpringCount (const NewtonCollision* convexCollision, int count); // NEWTON_API void NewtonSoftBodySetMass (const NewtonCollision* convexCollision, int index, dFloat mass, dFloat* position); // NEWTON_API int NewtonSoftBodySetSpring (const NewtonCollision* convexCollision, int index, int mass0, int mass1, dFloat stiffness, dFloat damper); // NEWTON_API int NewtonSoftBodyGetMassArray (const NewtonCollision* convexCollision, dFloat* masses, dFloat** positions); // ********************************************************************************************** // // complex collision primitives creation functions // // ********************************************************************************************** NEWTON_API NewtonCollision *NewtonCreateCompoundCollision(NewtonWorld *const newtonWorld, int count, NewtonCollision *const collisionPrimitiveArray[], int shapeID); NEWTON_API NewtonCollision *NewtonCreateCompoundCollisionFromMesh(NewtonWorld *const newtonWorld, const NewtonMesh *const mesh, dFloat hullTolerance, int shapeID, int subShapeID); //NEWTON_API NewtonCollision* NewtonCreateCompoundCollisionFromMesh(const NewtonWorld* const newtonWorld, const NewtonMesh* const mesh, int maxSubShapesCount, int shapeID, int subShapeID); // ********************************************************************************************** // // complex breakable collision primitives interface // // ********************************************************************************************** // NEWTON_API NewtonCollision* NewtonCreateCompoundBreakable (const NewtonWorld* const newtonWorld, int meshCount, // NewtonMesh* const solids[], NewtonMesh* const splitePlanes[], // dFloat* const matrixPallete, int32* const shapeIDArray, dFloat* const densities, // int shapeID, int debriID, NewtonCollisionCompoundBreakableCallback callback, void* buildUsedData); NEWTON_API NewtonCollision *NewtonCreateCompoundBreakable(NewtonWorld *const newtonWorld, int meshCount, NewtonMesh **const solids, const int32 *const shapeIDArray, const dFloat *const densities, const int32 *const internalFaceMaterial, int shapeID, int debriID, dFloat debriSeparationGap); NEWTON_API void NewtonCompoundBreakableResetAnchoredPieces(NewtonCollision *const compoundBreakable); NEWTON_API void NewtonCompoundBreakableSetAnchoredPieces(NewtonCollision *const compoundBreakable, int fixShapesCount, dFloat *const matrixPallete, NewtonCollision **const fixedShapesArray); NEWTON_API int NewtonCompoundBreakableGetVertexCount(const NewtonCollision *const compoundBreakable); NEWTON_API void NewtonCompoundBreakableGetVertexStreams(const NewtonCollision *const compoundBreakable, int vertexStrideInByte, dFloat *const vertex, int normalStrideInByte, dFloat *const normal, int uvStrideInByte, dFloat *const uv); NEWTON_API NewtonbreakableComponentMesh *NewtonBreakableGetMainMesh(const NewtonCollision *const compoundBreakable); NEWTON_API NewtonbreakableComponentMesh *NewtonBreakableGetFirstComponent(const NewtonCollision *const compoundBreakable); NEWTON_API const NewtonbreakableComponentMesh *NewtonBreakableGetNextComponent(const NewtonbreakableComponentMesh *const component); NEWTON_API void NewtonBreakableBeginDelete(NewtonCollision *const compoundBreakable); NEWTON_API NewtonBody *NewtonBreakableCreateDebrieBody(NewtonCollision *const compoundBreakable, NewtonbreakableComponentMesh *const component); NEWTON_API void NewtonBreakableDeleteComponent(NewtonCollision *const compoundBreakable, NewtonbreakableComponentMesh *const component); NEWTON_API void NewtonBreakableEndDelete(NewtonCollision *const compoundBreakable); NEWTON_API int NewtonBreakableGetComponentsInRadius(const NewtonCollision *const compoundBreakable, const dFloat *position, dFloat radius, NewtonbreakableComponentMesh **const segments, int maxCount); NEWTON_API void *NewtonBreakableGetFirstSegment(NewtonbreakableComponentMesh *const breakableComponent); NEWTON_API void *NewtonBreakableGetNextSegment(const void *const segment); NEWTON_API int NewtonBreakableSegmentGetMaterial(void *const segment); NEWTON_API int NewtonBreakableSegmentGetIndexCount(void *const segment); NEWTON_API int NewtonBreakableSegmentGetIndexStream(const NewtonCollision *const compoundBreakable, NewtonbreakableComponentMesh *const meshOwner, void *const segment, int32 *const index); NEWTON_API int NewtonBreakableSegmentGetIndexStreamShort(const NewtonCollision *const compoundBreakable, const NewtonbreakableComponentMesh *const meshOwner, void *const segment, short int *const index); NEWTON_API NewtonCollision *NewtonCreateUserMeshCollision(NewtonWorld *const newtonWorld, const dFloat *const minBox, const dFloat *const maxBox, void *const userData, NewtonUserMeshCollisionCollideCallback collideCallback, NewtonUserMeshCollisionRayHitCallback rayHitCallback, NewtonUserMeshCollisionDestroyCallback destroyCallback, NewtonUserMeshCollisionGetCollisionInfo getInfoCallback, NewtonUserMeshCollisionGetFacesInAABB facesInAABBCallback, int shapeID); NEWTON_API NewtonCollision *NewtonCreateSceneCollision(NewtonWorld *const newtonWorld, int shapeID); NEWTON_API NewtonSceneProxy *NewtonSceneCollisionCreateProxy(NewtonCollision *const scene, NewtonCollision *const collision, dFloat *const matrix); NEWTON_API void NewtonSceneCollisionDestroyProxy(NewtonCollision *const scene, NewtonSceneProxy *Proxy); NEWTON_API void NewtonSceneProxySetMatrix(NewtonSceneProxy *const proxy, const dFloat *matrix); NEWTON_API void NewtonSceneProxyGetMatrix(NewtonSceneProxy *const proxy, dFloat *matrix); NEWTON_API void NewtonSceneSetProxyUserData(NewtonSceneProxy *const proxy, void *userData); NEWTON_API void *NewtonSceneGetProxyUserData(NewtonSceneProxy *const proxy); NEWTON_API NewtonSceneProxy *NewtonSceneGetFirstProxy(NewtonCollision *const scene); NEWTON_API NewtonSceneProxy *NewtonSceneGetNextProxy(NewtonCollision *const scene, NewtonSceneProxy *const proxy); NEWTON_API void NewtonSceneCollisionOptimize(NewtonCollision *scene); // *********************************************************************************************************** // // Collision serialization functions // // *********************************************************************************************************** NEWTON_API NewtonCollision *NewtonCreateCollisionFromSerialization(NewtonWorld *const newtonWorld, NewtonDeserialize deserializeFunction, void *const serializeHandle); NEWTON_API void NewtonCollisionSerialize(const NewtonWorld *const newtonWorld, const NewtonCollision *const collision, NewtonSerialize serializeFunction, void *const serializeHandle); NEWTON_API void NewtonCollisionGetInfo(const NewtonCollision *const collision, NewtonCollisionInfoRecord *const collisionInfo); // ********************************************************************************************** // // Static collision shapes functions // // ********************************************************************************************** NEWTON_API NewtonCollision *NewtonCreateHeightFieldCollision(NewtonWorld *const newtonWorld, int width, int height, int gridsDiagonals, const unsigned short *const elevationMap, const int8 *const attributeMap, dFloat horizontalScale, dFloat verticalScale, int shapeID); NEWTON_API void NewtonHeightFieldSetUserRayCastCallback(NewtonCollision *const treeCollision, NewtonHeightFieldRayCastCallback rayHitCallback); NEWTON_API NewtonCollision *NewtonCreateTreeCollision(NewtonWorld *const newtonWorld, int shapeID); NEWTON_API NewtonCollision *NewtonCreateTreeCollisionFromMesh(const NewtonWorld *const newtonWorld, const NewtonMesh *const mesh, int shapeID); NEWTON_API void NewtonTreeCollisionSetUserRayCastCallback(const NewtonCollision *const treeCollision, NewtonCollisionTreeRayCastCallback rayHitCallback); NEWTON_API void NewtonTreeCollisionBeginBuild(NewtonCollision *treeCollision); NEWTON_API void NewtonTreeCollisionAddFace(NewtonCollision *const treeCollision, int vertexCount, const dFloat *const vertexPtr, int strideInBytes, int faceAttribute); NEWTON_API void NewtonTreeCollisionEndBuild(NewtonCollision *const treeCollision, int optimize); NEWTON_API int NewtonTreeCollisionGetFaceAtribute(const NewtonCollision *const treeCollision, const int32 *const faceIndexArray); NEWTON_API void NewtonTreeCollisionSetFaceAtribute(NewtonCollision *const treeCollision, const int32 *const faceIndexArray, int attribute); NEWTON_API int NewtonTreeCollisionGetVertexListIndexListInAABB(const NewtonCollision *const treeCollision, const dFloat *const p0, const dFloat *const p1, const dFloat **const vertexArray, int32 *const vertexCount, int32 *const vertexStrideInBytes, int32 *const indexList, int maxIndexCount, int32 *const faceAttribute); NEWTON_API void NewtonStaticCollisionSetDebugCallback(NewtonCollision *const staticCollision, NewtonTreeCollisionCallback userCallback); // ********************************************************************************************** // // General purpose collision library functions // // ********************************************************************************************** NEWTON_API int NewtonCollisionPointDistance(NewtonWorld *const newtonWorld, const dFloat *const point, NewtonCollision *const collision, const dFloat *const matrix, dFloat *const contact, dFloat *const normal, int threadIndex); NEWTON_API int NewtonCollisionClosestPoint(NewtonWorld *const newtonWorld, NewtonCollision *const collisionA, const dFloat *const matrixA, NewtonCollision *const collisionB, const dFloat *const matrixB, dFloat *const contactA, dFloat *const contactB, dFloat *const normalAB, int threadIndex); NEWTON_API int NewtonCollisionCollide(NewtonWorld *const newtonWorld, int maxSize, NewtonCollision *const collisionA, const dFloat *const matrixA, NewtonCollision *const collisionB, const dFloat *const matrixB, dFloat *const contacts, dFloat *const normals, dFloat *const penetration, int threadIndex); NEWTON_API int NewtonCollisionCollideContinue(NewtonWorld *const newtonWorld, int maxSize, const dFloat timestep, NewtonCollision *const collisionA, const dFloat *const matrixA, const dFloat *const velocA, const dFloat *omegaA, NewtonCollision *const collisionB, const dFloat *const matrixB, const dFloat *const velocB, const dFloat *const omegaB, dFloat *const timeOfImpact, dFloat *const contacts, dFloat *const normals, dFloat *const penetration, int threadIndex); NEWTON_API void NewtonCollisionSupportVertex(const NewtonCollision *const collision, const dFloat *const dir, dFloat *const vertex); NEWTON_API dFloat NewtonCollisionRayCast(const NewtonCollision *const collision, const dFloat *const p0, const dFloat *const p1, dFloat *const normal, int *const attribute); NEWTON_API void NewtonCollisionCalculateAABB(const NewtonCollision *const collision, const dFloat *const matrix, dFloat *const p0, dFloat *const p1); NEWTON_API void NewtonCollisionForEachPolygonDo(const NewtonCollision *const collision, const dFloat *const matrix, NewtonCollisionIterator callback, void *const userData); // ********************************************************************************************** // // transforms utility functions // // ********************************************************************************************** NEWTON_API void NewtonGetEulerAngle(const dFloat *const matrix, dFloat *const eulersAngles); NEWTON_API void NewtonSetEulerAngle(const dFloat *const eulersAngles, dFloat *const matrix); NEWTON_API dFloat NewtonCalculateSpringDamperAcceleration(dFloat dt, dFloat ks, dFloat x, dFloat kd, dFloat s); // ********************************************************************************************** // // body manipulation functions // // ********************************************************************************************** NEWTON_API NewtonBody *NewtonCreateBody(NewtonWorld *const newtonWorld, NewtonCollision *const collision, const dFloat *const matrix); NEWTON_API void NewtonDestroyBody(NewtonWorld *const newtonWorld, NewtonBody *const body); NEWTON_API void NewtonBodyAddForce(NewtonBody *const body, const dFloat *const force); NEWTON_API void NewtonBodyAddTorque(NewtonBody *const body, const dFloat *const torque); NEWTON_API void NewtonBodyCalculateInverseDynamicsForce(const NewtonBody *const body, dFloat timestep, const dFloat *const desiredVeloc, dFloat *const forceOut); NEWTON_API void NewtonBodySetMatrix(NewtonBody *const body, dFloat *const matrix); NEWTON_API void NewtonBodySetMatrixRecursive(NewtonBody *const body, const dFloat *const matrix); NEWTON_API void NewtonBodySetMassMatrix(NewtonBody *const body, dFloat mass, dFloat Ixx, dFloat Iyy, dFloat Izz); NEWTON_API void NewtonBodySetMaterialGroupID(NewtonBody *body, int id); NEWTON_API void NewtonBodySetContinuousCollisionMode(NewtonBody *body, unsigned state); NEWTON_API void NewtonBodySetJointRecursiveCollision(NewtonBody *body, unsigned state); NEWTON_API void NewtonBodySetOmega(NewtonBody *body, const dFloat *const omega); NEWTON_API void NewtonBodySetVelocity(NewtonBody *body, const dFloat *const velocity); NEWTON_API void NewtonBodySetForce(NewtonBody *const body, const dFloat *const force); NEWTON_API void NewtonBodySetTorque(NewtonBody *body, const dFloat *const torque); NEWTON_API void NewtonBodySetCentreOfMass(NewtonBody *body, const dFloat *const com); NEWTON_API void NewtonBodySetLinearDamping(NewtonBody *body, dFloat linearDamp); NEWTON_API void NewtonBodySetAngularDamping(NewtonBody *body, const dFloat *const angularDamp); NEWTON_API void NewtonBodySetUserData(NewtonBody *const body, void *const userData); NEWTON_API void NewtonBodySetCollision(NewtonBody *body, NewtonCollision *collision); NEWTON_API int NewtonBodyGetSleepState(const NewtonBody *const body); NEWTON_API int NewtonBodyGetAutoSleep(const NewtonBody *const body); NEWTON_API void NewtonBodySetAutoSleep(NewtonBody *body, int state); NEWTON_API int NewtonBodyGetFreezeState(const NewtonBody *const body); NEWTON_API void NewtonBodySetFreezeState(NewtonBody *body, int state); // NEWTON_API void NewtonBodySetAutoFreeze(const NewtonBody* const body, int state); // NEWTON_API void NewtonBodyCoriolisForcesMode (const NewtonBody* const body, int mode); // NEWTON_API void NewtonBodySetGyroscopicForcesMode (const NewtonBody* const body, int mode); // NEWTON_API int NewtonBodyGetGyroscopicForcesMode (const NewtonBody* const body); // NEWTON_API int NewtonBodyGetFreezeState (const NewtonBody* const body); // NEWTON_API void NewtonBodySetFreezeState (const NewtonBody* const body, int state); // NEWTON_API void NewtonBodyGetFreezeTreshold (const NewtonBody* const body, dFloat* freezeSpeed2, dFloat* freezeOmega2); // NEWTON_API void NewtonBodySetFreezeTreshold (const NewtonBody* const body, dFloat freezeSpeed2, dFloat freezeOmega2, int framesCount); // NEWTON_API void NewtonBodySetAutoactiveCallback (const NewtonBody* const body, NewtonBodyActivationState callback); NEWTON_API void NewtonBodySetDestructorCallback(NewtonBody *const body, NewtonBodyDestructor callback); NEWTON_API void NewtonBodySetTransformCallback(NewtonBody *const body, NewtonSetTransform callback); NEWTON_API NewtonSetTransform NewtonBodyGetTransformCallback(const NewtonBody *const body); NEWTON_API void NewtonBodySetForceAndTorqueCallback(NewtonBody *const body, NewtonApplyForceAndTorque callback); NEWTON_API NewtonApplyForceAndTorque NewtonBodyGetForceAndTorqueCallback(const NewtonBody *const body); NEWTON_API void *NewtonBodyGetUserData(const NewtonBody *const body); NEWTON_API NewtonWorld *NewtonBodyGetWorld(const NewtonBody *const body); NEWTON_API NewtonCollision *NewtonBodyGetCollision(const NewtonBody *const body); NEWTON_API int NewtonBodyGetMaterialGroupID(const NewtonBody *const body); NEWTON_API int NewtonBodyGetContinuousCollisionMode(const NewtonBody *const body); NEWTON_API int NewtonBodyGetJointRecursiveCollision(const NewtonBody *const body); NEWTON_API void NewtonBodyGetMatrix(const NewtonBody *const body, dFloat *const matrix); NEWTON_API void NewtonBodyGetRotation(const NewtonBody *const body, dFloat *const rotation); NEWTON_API void NewtonBodyGetMassMatrix(const NewtonBody *const body, dFloat *mass, dFloat *const Ixx, dFloat *const Iyy, dFloat *const Izz); NEWTON_API void NewtonBodyGetInvMass(const NewtonBody *const body, dFloat *const invMass, dFloat *const invIxx, dFloat *const invIyy, dFloat *const invIzz); NEWTON_API void NewtonBodyGetOmega(const NewtonBody *const body, dFloat *const vector); NEWTON_API void NewtonBodyGetVelocity(const NewtonBody *const body, dFloat *const vector); NEWTON_API void NewtonBodyGetForce(const NewtonBody *const body, dFloat *const vector); NEWTON_API void NewtonBodyGetTorque(const NewtonBody *const body, dFloat *const vector); NEWTON_API void NewtonBodyGetForceAcc(const NewtonBody *const body, dFloat *const vector); NEWTON_API void NewtonBodyGetTorqueAcc(const NewtonBody *const body, dFloat *const vector); NEWTON_API void NewtonBodyGetCentreOfMass(const NewtonBody *const body, dFloat *const com); NEWTON_API dFloat NewtonBodyGetLinearDamping(const NewtonBody *const body); NEWTON_API void NewtonBodyGetAngularDamping(const NewtonBody *const body, dFloat *const vector); NEWTON_API void NewtonBodyGetAABB(const NewtonBody *const body, dFloat *const p0, dFloat *const p1); NEWTON_API NewtonJoint *NewtonBodyGetFirstJoint(const NewtonBody *const body); NEWTON_API NewtonJoint *NewtonBodyGetNextJoint(const NewtonBody *const body, const NewtonJoint *const joint); NEWTON_API NewtonJoint *NewtonBodyGetFirstContactJoint(const NewtonBody *const body); NEWTON_API NewtonJoint *NewtonBodyGetNextContactJoint(const NewtonBody *const body, const NewtonJoint *const contactJoint); NEWTON_API void *NewtonContactJointGetFirstContact(const NewtonJoint *const contactJoint); NEWTON_API void *NewtonContactJointGetNextContact(const NewtonJoint *const contactJoint, void *const contact); NEWTON_API int NewtonContactJointGetContactCount(const NewtonJoint *const contactJoint); NEWTON_API void NewtonContactJointRemoveContact(NewtonJoint *contactJoint, void *const contact); NEWTON_API NewtonMaterial *NewtonContactGetMaterial(void *const contact); NEWTON_API void NewtonBodyAddBuoyancyForce(NewtonBody *const body, dFloat fluidDensity, dFloat fluidLinearViscosity, dFloat fluidAngularViscosity, const dFloat *const gravityVector, NewtonGetBuoyancyPlane buoyancyPlane, void *const context); // NEWTON_API void NewtonBodyForEachPolygonDo (const NewtonBody* const body, NewtonCollisionIterator callback); NEWTON_API void NewtonBodyAddImpulse(NewtonBody *body, const dFloat *const pointDeltaVeloc, const dFloat *const pointPosit); NEWTON_API void NewtonBodyApplyImpulseArray(NewtonBody *body, int impuleCount, int strideInByte, const dFloat *const impulseArray, const dFloat *const pointArray); // ********************************************************************************************** // // Common joint functions // // ********************************************************************************************** NEWTON_API void *NewtonJointGetUserData(const NewtonJoint *const joint); NEWTON_API void NewtonJointSetUserData(NewtonJoint *joint, void *const userData); NEWTON_API NewtonBody *NewtonJointGetBody0(const NewtonJoint *const joint); NEWTON_API NewtonBody *NewtonJointGetBody1(const NewtonJoint *const joint); NEWTON_API void NewtonJointGetInfo(const NewtonJoint *const joint, NewtonJointRecord *const info); NEWTON_API int NewtonJointGetCollisionState(const NewtonJoint *const joint); NEWTON_API void NewtonJointSetCollisionState(NewtonJoint *joint, int state); NEWTON_API dFloat NewtonJointGetStiffness(const NewtonJoint *const joint); NEWTON_API void NewtonJointSetStiffness(NewtonJoint *joint, dFloat state); NEWTON_API void NewtonDestroyJoint(NewtonWorld *newtonWorld, NewtonJoint *joint); NEWTON_API void NewtonJointSetDestructor(const NewtonJoint *const joint, NewtonConstraintDestructor destructor); // ********************************************************************************************** // // Ball and Socket joint functions // // ********************************************************************************************** NEWTON_API NewtonJoint *NewtonConstraintCreateBall(NewtonWorld *newtonWorld, const dFloat *pivotPoint, NewtonBody *childBody, NewtonBody *parentBody); NEWTON_API void NewtonBallSetUserCallback(NewtonJoint *ball, NewtonBallCallBack callback); NEWTON_API void NewtonBallGetJointAngle(const NewtonJoint *const ball, dFloat *angle); NEWTON_API void NewtonBallGetJointOmega(const NewtonJoint *const ball, dFloat *omega); NEWTON_API void NewtonBallGetJointForce(const NewtonJoint *const ball, dFloat *const force); NEWTON_API void NewtonBallSetConeLimits(NewtonJoint *ball, const dFloat *pin, dFloat maxConeAngle, dFloat maxTwistAngle); // ********************************************************************************************** // // Hinge joint functions // // ********************************************************************************************** NEWTON_API NewtonJoint *NewtonConstraintCreateHinge(NewtonWorld *newtonWorld, const dFloat *pivotPoint, const dFloat *pinDir, NewtonBody *childBody, NewtonBody *parentBody); NEWTON_API void NewtonHingeSetUserCallback(NewtonJoint *hinge, NewtonHingeCallBack callback); NEWTON_API dFloat NewtonHingeGetJointAngle(const NewtonJoint *const hinge); NEWTON_API dFloat NewtonHingeGetJointOmega(const NewtonJoint *const hinge); NEWTON_API void NewtonHingeGetJointForce(const NewtonJoint *const hinge, dFloat *const force); NEWTON_API dFloat NewtonHingeCalculateStopAlpha(const NewtonJoint *const hinge, const NewtonHingeSliderUpdateDesc *const desc, dFloat angle); // ********************************************************************************************** // // Slider joint functions // // ********************************************************************************************** NEWTON_API NewtonJoint *NewtonConstraintCreateSlider(NewtonWorld *newtonWorld, const dFloat *pivotPoint, const dFloat *pinDir, NewtonBody *childBody, NewtonBody *parentBody); NEWTON_API void NewtonSliderSetUserCallback(NewtonJoint *slider, NewtonSliderCallBack callback); NEWTON_API dFloat NewtonSliderGetJointPosit(const NewtonJoint *slider); NEWTON_API dFloat NewtonSliderGetJointVeloc(const NewtonJoint *slider); NEWTON_API void NewtonSliderGetJointForce(const NewtonJoint *const slider, dFloat *const force); NEWTON_API dFloat NewtonSliderCalculateStopAccel(const NewtonJoint *const slider, const NewtonHingeSliderUpdateDesc *const desc, dFloat position); // ********************************************************************************************** // // Corkscrew joint functions // // ********************************************************************************************** NEWTON_API NewtonJoint *NewtonConstraintCreateCorkscrew(NewtonWorld *newtonWorld, const dFloat *pivotPoint, const dFloat *pinDir, NewtonBody *childBody, NewtonBody *parentBody); NEWTON_API void NewtonCorkscrewSetUserCallback(NewtonJoint *corkscrew, NewtonCorkscrewCallBack callback); NEWTON_API dFloat NewtonCorkscrewGetJointPosit(const NewtonJoint *const corkscrew); NEWTON_API dFloat NewtonCorkscrewGetJointAngle(const NewtonJoint *const corkscrew); NEWTON_API dFloat NewtonCorkscrewGetJointVeloc(const NewtonJoint *const corkscrew); NEWTON_API dFloat NewtonCorkscrewGetJointOmega(const NewtonJoint *const corkscrew); NEWTON_API void NewtonCorkscrewGetJointForce(const NewtonJoint *const corkscrew, dFloat *const force); NEWTON_API dFloat NewtonCorkscrewCalculateStopAlpha(const NewtonJoint *const corkscrew, const NewtonHingeSliderUpdateDesc *const desc, dFloat angle); NEWTON_API dFloat NewtonCorkscrewCalculateStopAccel(const NewtonJoint *const corkscrew, const NewtonHingeSliderUpdateDesc *const desc, dFloat position); // ********************************************************************************************** // // Universal joint functions // // ********************************************************************************************** NEWTON_API NewtonJoint *NewtonConstraintCreateUniversal(const NewtonWorld *const newtonWorld, const dFloat *pivotPoint, const dFloat *pinDir0, const dFloat *pinDir1, const NewtonBody *const childBody, const NewtonBody *const parentBody); NEWTON_API void NewtonUniversalSetUserCallback(const NewtonJoint *const universal, NewtonUniversalCallBack callback); NEWTON_API dFloat NewtonUniversalGetJointAngle0(const NewtonJoint *const universal); NEWTON_API dFloat NewtonUniversalGetJointAngle1(const NewtonJoint *const universal); NEWTON_API dFloat NewtonUniversalGetJointOmega0(const NewtonJoint *const universal); NEWTON_API dFloat NewtonUniversalGetJointOmega1(const NewtonJoint *const universal); NEWTON_API void NewtonUniversalGetJointForce(const NewtonJoint *const universal, dFloat *const force); NEWTON_API dFloat NewtonUniversalCalculateStopAlpha0(const NewtonJoint *const universal, const NewtonHingeSliderUpdateDesc *const desc, dFloat angle); NEWTON_API dFloat NewtonUniversalCalculateStopAlpha1(const NewtonJoint *const universal, const NewtonHingeSliderUpdateDesc *const desc, dFloat angle); // ********************************************************************************************** // // Up vector joint functions // // ********************************************************************************************** NEWTON_API NewtonJoint *NewtonConstraintCreateUpVector(const NewtonWorld *const newtonWorld, const dFloat *pinDir, const NewtonBody *const body); NEWTON_API void NewtonUpVectorGetPin(const NewtonJoint *const upVector, dFloat *pin); NEWTON_API void NewtonUpVectorSetPin(const NewtonJoint *const upVector, const dFloat *pin); // ********************************************************************************************** // // User defined bilateral Joint // // ********************************************************************************************** NEWTON_API NewtonJoint *NewtonConstraintCreateUserJoint(const NewtonWorld *const newtonWorld, int maxDOF, NewtonUserBilateralCallBack callback, NewtonUserBilateralGetInfoCallBack getInfo, const NewtonBody *const childBody, const NewtonBody *const parentBody) ; NEWTON_API void NewtonUserJointSetFeedbackCollectorCallback(const NewtonJoint *const joint, NewtonUserBilateralCallBack getFeedback); NEWTON_API void NewtonUserJointAddLinearRow(const NewtonJoint *const joint, const dFloat *const pivot0, const dFloat *const pivot1, const dFloat *const dir); NEWTON_API void NewtonUserJointAddAngularRow(const NewtonJoint *const joint, dFloat relativeAngle, const dFloat *const dir); NEWTON_API void NewtonUserJointAddGeneralRow(const NewtonJoint *const joint, const dFloat *const jacobian0, const dFloat *const jacobian1); NEWTON_API void NewtonUserJointSetRowMinimumFriction(const NewtonJoint *const joint, dFloat friction); NEWTON_API void NewtonUserJointSetRowMaximumFriction(const NewtonJoint *const joint, dFloat friction); NEWTON_API void NewtonUserJointSetRowAcceleration(const NewtonJoint *const joint, dFloat acceleration); NEWTON_API void NewtonUserJointSetRowSpringDamperAcceleration(const NewtonJoint *const joint, dFloat springK, dFloat springD); NEWTON_API void NewtonUserJointSetRowStiffness(const NewtonJoint *const joint, dFloat stiffness); NEWTON_API dFloat NewtonUserJointGetRowForce(const NewtonJoint *const joint, int row); // ********************************************************************************************** // // Mesh joint functions // // ********************************************************************************************** NEWTON_API NewtonMesh *NewtonMeshCreate(const NewtonWorld *const newtonWorld); NEWTON_API NewtonMesh *NewtonMeshCreateFromMesh(const NewtonMesh *const mesh); NEWTON_API NewtonMesh *NewtonMeshCreateFromCollision(const NewtonCollision *const collision); NEWTON_API NewtonMesh *NewtonMeshConvexHull(const NewtonWorld *const newtonWorld, int count, const dFloat *const vertexCloud, int strideInBytes, dFloat tolerance); NEWTON_API NewtonMesh *NewtonMeshCreatePlane(const NewtonWorld *const newtonWorld, const dFloat *const locationMatrix, dFloat witdth, dFloat breadth, int material, const dFloat *const textureMatrix0, const dFloat *const textureMatrix1); NEWTON_API void NewtonMeshDestroy(const NewtonMesh *const mesh); NEWTON_API void NewtonMesApplyTransform(const NewtonMesh *const mesh, const dFloat *const matrix); NEWTON_API void NewtonMeshCalculateOOBB(const NewtonMesh *const mesh, dFloat *const matrix, dFloat *const x, dFloat *const y, dFloat *const z); NEWTON_API void NewtonMeshCalculateVertexNormals(const NewtonMesh *const mesh, dFloat angleInRadians); NEWTON_API void NewtonMeshApplySphericalMapping(const NewtonMesh *const mesh, int material); NEWTON_API void NewtonMeshApplyBoxMapping(const NewtonMesh *const mesh, int front, int side, int top); NEWTON_API void NewtonMeshApplyCylindricalMapping(const NewtonMesh *const mesh, int cylinderMaterial, int capMaterial); NEWTON_API int NewtonMeshIsOpenMesh(const NewtonMesh *const mesh); NEWTON_API void NewtonMeshFixTJoints(const NewtonMesh *const mesh); NEWTON_API void NewtonMeshPolygonize(const NewtonMesh *const mesh); NEWTON_API void NewtonMeshTriangulate(const NewtonMesh *const mesh); NEWTON_API NewtonMesh *NewtonMeshUnion(const NewtonMesh *const mesh, const NewtonMesh *const clipper, const dFloat *const clipperMatrix); NEWTON_API NewtonMesh *NewtonMeshDifference(const NewtonMesh *const mesh, const NewtonMesh *const clipper, const dFloat *const clipperMatrix); NEWTON_API NewtonMesh *NewtonMeshIntersection(const NewtonMesh *const mesh, const NewtonMesh *const clipper, const dFloat *const clipperMatrix); NEWTON_API void NewtonMeshClip(const NewtonMesh *const mesh, const NewtonMesh *const clipper, const dFloat *const clipperMatrix, NewtonMesh **const topMesh, NewtonMesh **const bottomMesh); NEWTON_API void NewtonMeshPlaneClip(const NewtonMesh *const mesh, dFloat *const planeMatrix, const dFloat *const planeTextureMatrix, int planeMaterial, NewtonMesh **const topMesh, NewtonMesh **const bottomMesh); NEWTON_API NewtonMesh *NewtonMeshApproximateConvexDecomposition(const NewtonMesh *const mesh, dFloat maxConcavity, int maxCount); NEWTON_API NewtonMesh *NewtonMeshTetrahedralization(const NewtonMesh *const mesh, int internalMaterial, const dFloat *const textureMatrix); NEWTON_API NewtonMesh *NewtonMeshVoronoiDecomposition(const NewtonMesh *const mesh, int pointCount, int pointStrideInBytes, const dFloat *const pointCloud, int internalMaterial, const dFloat *const textureMatrix); NEWTON_API void NewtonRemoveUnusedVertices(const NewtonMesh *const mesh, int32 *const vertexRemapTable); NEWTON_API void NewtonMeshBeginFace(const NewtonMesh *const mesh); NEWTON_API void NewtonMeshAddFace(const NewtonMesh *const mesh, int vertexCount, const dFloat *const vertex, int strideInBytes, int materialIndex); NEWTON_API void NewtonMeshEndFace(const NewtonMesh *const mesh); NEWTON_API void NewtonMeshBuildFromVertexListIndexList(const NewtonMesh *const mesh, int faceCount, const int32 *const faceIndexCount, const int32 *const faceMaterialIndex, const dFloat *const vertex, int vertexStrideInBytes, const int32 *const vertexIndex, const dFloat *const normal, int normalStrideInBytes, const int32 *const normalIndex, const dFloat *const uv0, int uv0StrideInBytes, const int32 *const uv0Index, const dFloat *const uv1, int uv1StrideInBytes, const int32 *const uv1Index); NEWTON_API void NewtonMeshGetVertexStreams(const NewtonMesh *const mesh, int vertexStrideInByte, dFloat *const vertex, int normalStrideInByte, dFloat *const normal, int uvStrideInByte0, dFloat *const uv0, int uvStrideInByte1, dFloat *const uv1); NEWTON_API void NewtonMeshGetIndirectVertexStreams(const NewtonMesh *const mesh, int vertexStrideInByte, dFloat *const vertex, int *const vertexIndices, int *const vertexCount, int normalStrideInByte, dFloat *const normal, int *const normalIndices, int *const normalCount, int uvStrideInByte0, dFloat *const uv0, int *const uvIndices0, int *const uvCount0, int uvStrideInByte1, dFloat *const uv1, int *const uvIndices1, int *const uvCount1); NEWTON_API void *NewtonMeshBeginHandle(const NewtonMesh *const mesh); NEWTON_API void NewtonMeshEndHandle(const NewtonMesh *const mesh, void *const handle); NEWTON_API int NewtonMeshFirstMaterial(const NewtonMesh *const mesh, void *const handle); NEWTON_API int NewtonMeshNextMaterial(const NewtonMesh *const mesh, void *const handle, int materialId); NEWTON_API int NewtonMeshMaterialGetMaterial(const NewtonMesh *const mesh, void *const handle, int materialId); NEWTON_API int NewtonMeshMaterialGetIndexCount(const NewtonMesh *const mesh, void *const handle, int materialId); NEWTON_API void NewtonMeshMaterialGetIndexStream(const NewtonMesh *const mesh, void *const handle, int materialId, int32 *const index); NEWTON_API void NewtonMeshMaterialGetIndexStreamShort(const NewtonMesh *const mesh, void *const handle, int materialId, short int *const index); NEWTON_API NewtonMesh *NewtonMeshCreateFirstSingleSegment(const NewtonMesh *const mesh); NEWTON_API NewtonMesh *NewtonMeshCreateNextSingleSegment(const NewtonMesh *const mesh, const NewtonMesh *const segment); NEWTON_API NewtonMesh *NewtonMeshCreateFirstLayer(const NewtonMesh *const mesh); NEWTON_API NewtonMesh *NewtonMeshCreateNextLayer(const NewtonMesh *const mesh, const NewtonMesh *const segment); NEWTON_API int NewtonMeshGetTotalFaceCount(const NewtonMesh *const mesh); NEWTON_API int NewtonMeshGetTotalIndexCount(const NewtonMesh *const mesh); NEWTON_API void NewtonMeshGetFaces(const NewtonMesh *const mesh, int32 *const faceIndexCount, int32 *const faceMaterial, void **const faceIndices); NEWTON_API int NewtonMeshGetPointCount(const NewtonMesh *const mesh); NEWTON_API int NewtonMeshGetPointStrideInByte(const NewtonMesh *const mesh); NEWTON_API dFloat64 *NewtonMeshGetPointArray(const NewtonMesh *const mesh); NEWTON_API dFloat64 *NewtonMeshGetNormalArray(const NewtonMesh *const mesh); NEWTON_API dFloat64 *NewtonMeshGetUV0Array(const NewtonMesh *const mesh); NEWTON_API dFloat64 *NewtonMeshGetUV1Array(const NewtonMesh *const mesh); NEWTON_API int NewtonMeshGetVertexCount(const NewtonMesh *const mesh); NEWTON_API int NewtonMeshGetVertexStrideInByte(const NewtonMesh *const mesh); NEWTON_API dFloat64 *NewtonMeshGetVertexArray(const NewtonMesh *const mesh); NEWTON_API void *NewtonMeshGetFirstVertex(const NewtonMesh *const mesh); NEWTON_API void *NewtonMeshGetNextVertex(const NewtonMesh *const mesh, void *const vertex); NEWTON_API int NewtonMeshGetVertexIndex(const NewtonMesh *const mesh, void *const vertex); NEWTON_API void *NewtonMeshGetFirstPoint(const NewtonMesh *const mesh); NEWTON_API void *NewtonMeshGetNextPoint(const NewtonMesh *const mesh, void *const point); NEWTON_API int NewtonMeshGetPointIndex(const NewtonMesh *const mesh, const void *const point); NEWTON_API int NewtonMeshGetVertexIndexFromPoint(const NewtonMesh *const mesh, void *const point); NEWTON_API void *NewtonMeshGetFirstEdge(const NewtonMesh *const mesh); NEWTON_API void *NewtonMeshGetNextEdge(const NewtonMesh *const mesh, void *const edge); NEWTON_API void NewtonMeshGetEdgeIndices(const NewtonMesh *const mesh, const void *const edge, int32 *const v0, int32 *const v1); //NEWTON_API void NewtonMeshGetEdgePointIndices (const NewtonMesh* const mesh, const void* const edge, int* const v0, int* const v1); NEWTON_API void *NewtonMeshGetFirstFace(const NewtonMesh *const mesh); NEWTON_API void *NewtonMeshGetNextFace(const NewtonMesh *const mesh, void *const face); NEWTON_API int NewtonMeshIsFaceOpen(const NewtonMesh *const mesh, const void *const face); NEWTON_API int NewtonMeshGetFaceMaterial(const NewtonMesh *const mesh, const void *const face); NEWTON_API int NewtonMeshGetFaceIndexCount(const NewtonMesh *const mesh, const void *const face); NEWTON_API void NewtonMeshGetFaceIndices(const NewtonMesh *const mesh, const void *const face, int *const indices); NEWTON_API void NewtonMeshGetFacePointIndices(const NewtonMesh *const mesh, const void *const face, int *const indices); #ifdef __cplusplus } #endif #endif