1026 lines
62 KiB
C++
1026 lines
62 KiB
C++
/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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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
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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*
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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*
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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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#ifndef __NEWTON_H_INCLUDED__
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#define __NEWTON_H_INCLUDED__
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#include "common/scummsys.h"
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#define NEWTON_MAJOR_VERSION 2
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#define NEWTON_MINOR_VERSION 36
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#define NEWTON_API
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#ifdef __USE_DOUBLE_PRECISION__
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#define dFloat double
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#else
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#define dFloat float
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#endif
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#define dFloat64 double
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define NEWTON_PROFILER_WORLD_UPDATE 0
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#define NEWTON_PROFILER_COLLISION_UPDATE 1
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#define NEWTON_PROFILER_COLLISION_UPDATE_BROAD_PHASE 2
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#define NEWTON_PROFILER_COLLISION_UPDATE_NARROW_PHASE 3
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#define NEWTON_PROFILER_DYNAMICS_UPDATE 4
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#define NEWTON_PROFILER_DYNAMICS_CONSTRAINT_GRAPH 5
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#define NEWTON_PROFILER_DYNAMICS_SOLVE_CONSTRAINT_GRAPH 6
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#define NEWTON_PROFILER_FORCE_CALLBACK_UPDATE 7
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class NewtonMesh;
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class NewtonBody;
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class NewtonWorld;
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class NewtonJoint;
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class NewtonMaterial;
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class NewtonCollision;
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class NewtonSceneProxy;
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class NewtonbreakableComponentMesh;
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// typedef struct NewtonRagDoll{} NewtonRagDoll;
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// typedef struct NewtonRagDollBone{} NewtonRagDollBone;
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#define SERIALIZE_ID_BOX 0
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#define SERIALIZE_ID_CONE 1
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#define SERIALIZE_ID_SPHERE 2
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#define SERIALIZE_ID_CAPSULE 3
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#define SERIALIZE_ID_CYLINDER 4
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#define SERIALIZE_ID_COMPOUND 5
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#define SERIALIZE_ID_CONVEXHULL 6
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#define SERIALIZE_ID_CONVEXMODIFIER 7
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#define SERIALIZE_ID_CHAMFERCYLINDER 8
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#define SERIALIZE_ID_TREE 9
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#define SERIALIZE_ID_NULL 10
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#define SERIALIZE_ID_HEIGHTFIELD 11
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#define SERIALIZE_ID_USERMESH 12
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#define SERIALIZE_ID_SCENE 13
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#define SERIALIZE_ID_COMPOUND_BREAKABLE 14
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typedef struct NewtonBoxParam NewtonBoxParam;
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typedef struct NewtonConeParam NewtonConeParam;
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typedef struct NewtonSphereParam NewtonSphereParam;
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typedef struct NewtonCapsuleParam NewtonCapsuleParam;
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typedef struct NewtonCylinderParam NewtonCylinderParam;
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typedef struct NewtonConvexHullParam NewtonConvexHullParam;
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typedef struct NewtonCollisionTreeParam NewtonCollisionTreeParam;
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typedef struct NewtonSceneCollisionParam NewtonSceneCollisionParam;
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typedef struct NewtonChamferCylinderParam NewtonChamferCylinderParam;
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typedef struct NewtonCompoundCollisionParam NewtonCompoundCollisionParam;
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typedef struct NewtonConvexHullModifierParam NewtonConvexHullModifierParam;
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typedef struct NewtonHeightFieldCollisionParam NewtonHeightFieldCollisionParam;
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typedef struct NewtonCollisionInfoRecord NewtonCollisionInfoRecord;
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struct NewtonBoxParam {
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dFloat m_x;
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dFloat m_y;
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dFloat m_z;
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};
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struct NewtonSphereParam {
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dFloat m_r0;
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dFloat m_r1;
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dFloat m_r2;
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};
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struct NewtonCylinderParam {
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dFloat m_r0;
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dFloat m_r1;
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dFloat m_height;
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};
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struct NewtonCapsuleParam {
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dFloat m_r0;
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dFloat m_r1;
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dFloat m_height;
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};
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struct NewtonConeParam {
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dFloat m_r;
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dFloat m_height;
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};
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struct NewtonChamferCylinderParam {
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dFloat m_r;
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dFloat m_height;
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};
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struct NewtonConvexHullParam {
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int m_vertexCount;
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int m_vertexStrideInBytes;
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int m_faceCount;
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dFloat *m_vertex;
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};
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struct NewtonConvexHullModifierParam {
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NewtonCollision *m_chidren;
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};
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struct NewtonCompoundCollisionParam {
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int m_chidrenCount;
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NewtonCollision **m_chidren;
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};
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struct NewtonCollisionTreeParam {
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int m_vertexCount;
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int m_indexCount;
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};
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struct NewtonHeightFieldCollisionParam {
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int m_width;
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int m_height;
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int m_gridsDiagonals;
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dFloat m_horizonalScale;
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dFloat m_verticalScale;
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unsigned short *m_elevation;
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char *m_atributes;
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};
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struct NewtonSceneCollisionParam {
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int m_childrenProxyCount;
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};
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struct NewtonCollisionInfoRecord {
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dFloat m_offsetMatrix[4][4];
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int m_collisionType; // tag id to identify the collision primitive
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int m_referenceCount; // the current reference count for this collision
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int m_collisionUserID;
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union {
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NewtonBoxParam m_box;
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NewtonConeParam m_cone;
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NewtonSphereParam m_sphere;
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NewtonCapsuleParam m_capsule;
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NewtonCylinderParam m_cylinder;
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NewtonChamferCylinderParam m_chamferCylinder;
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NewtonConvexHullParam m_convexHull;
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NewtonCompoundCollisionParam m_compoundCollision;
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NewtonConvexHullModifierParam m_convexHullModifier;
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NewtonCollisionTreeParam m_collisionTree;
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NewtonHeightFieldCollisionParam m_heightField;
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NewtonSceneCollisionParam m_sceneCollision;
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dFloat m_paramArray[64]; // user define collision can use this to store information
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};
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};
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typedef struct NewtonJointRecord NewtonJointRecord;
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typedef struct NewtonHingeSliderUpdateDesc NewtonHingeSliderUpdateDesc;
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typedef struct NewtonUserMeshCollisionRayHitDesc NewtonUserMeshCollisionRayHitDesc;
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typedef struct NewtonUserMeshCollisionCollideDesc NewtonUserMeshCollisionCollideDesc;
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typedef struct NewtonWorldConvexCastReturnInfo NewtonWorldConvexCastReturnInfo;
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struct NewtonJointRecord {
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dFloat m_attachmenMatrix_0[4][4];
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dFloat m_attachmenMatrix_1[4][4];
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dFloat m_minLinearDof[3];
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dFloat m_maxLinearDof[3];
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dFloat m_minAngularDof[3];
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dFloat m_maxAngularDof[3];
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const NewtonBody *m_attachBody_0;
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const NewtonBody *m_attachBody_1;
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dFloat m_extraParameters[16];
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int m_bodiesCollisionOn;
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char m_descriptionType[32];
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} ;
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struct NewtonUserMeshCollisionCollideDesc {
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dFloat m_boxP0[4]; // lower bounding box of intersection query in local space
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dFloat m_boxP1[4]; // upper bounding box of intersection query in local space
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int m_threadNumber; // current thread executing this query
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int m_faceCount; // the application should set here how many polygons intersect the query box
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int m_vertexStrideInBytes; // the application should set here the size of each vertex
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void *m_userData; // user data passed to the collision geometry at creation time
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dFloat *m_vertex; // the application should the pointer to the vertex array.
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int *m_userAttribute; // the application should set here the pointer to the user data, one for each face
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int *m_faceIndexCount; // the application should set here the pointer to the vertex count of each face.
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int *m_faceVertexIndex; // the application should set here the pointer index array for each vertex on a face.
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NewtonBody *m_objBody; // pointer to the colliding body
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NewtonBody *m_polySoupBody; // pointer to the rigid body owner of this collision tree
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};
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struct NewtonWorldConvexCastReturnInfo {
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dFloat m_point[4]; // collision point in global space
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dFloat m_normal[4]; // surface normal at collision point in global space
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dFloat m_normalOnHitPoint[4]; // surface normal at the surface of the hit body,
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// is the same as the normal calculated by a ray cast hitting the body at the hit point
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dFloat m_penetration; // contact penetration at collision point
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int m_contactID; // collision ID at contact point
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const NewtonBody *m_hitBody; // body hit at contact point
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};
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struct NewtonUserMeshCollisionRayHitDesc {
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dFloat m_p0[4]; // ray origin in collision local space
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dFloat m_p1[4]; // ray destination in collision local space
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dFloat m_normalOut[4]; // copy here the normal at the ray intersection
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int m_userIdOut; // copy here a user defined id for further feedback
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void *m_userData; // user data passed to the collision geometry at creation time
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};
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struct NewtonHingeSliderUpdateDesc {
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dFloat m_accel;
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dFloat m_minFriction;
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dFloat m_maxFriction;
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dFloat m_timestep;
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} ;
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// Newton callback functions
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typedef void *(*NewtonAllocMemory)(int sizeInBytes);
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typedef void (*NewtonFreeMemory)(void *const ptr, int sizeInBytes);
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typedef void (*NewtonDestroyWorld)(const NewtonWorld *const newtonWorld);
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typedef unsigned(*NewtonGetTicksCountCallback)();
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typedef void (*NewtonSerialize)(void *const serializeHandle, const void *buffer, size_t size);
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typedef void (*NewtonDeserialize)(void *const serializeHandle, void *buffer, size_t size);
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// user collision callbacks
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typedef void (*NewtonUserMeshCollisionDestroyCallback)(void *const userData);
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typedef void (*NewtonUserMeshCollisionCollideCallback)(NewtonUserMeshCollisionCollideDesc *const collideDescData);
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typedef dFloat(*NewtonUserMeshCollisionRayHitCallback)(NewtonUserMeshCollisionRayHitDesc *const lineDescData);
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typedef void (*NewtonUserMeshCollisionGetCollisionInfo)(void *const userData, NewtonCollisionInfoRecord *const infoRecord);
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typedef void (*NewtonUserMeshCollisionGetFacesInAABB)(void *const userData, const dFloat *const p0, const dFloat *const p1,
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const dFloat *const *const vertexArray, int32 *const vertexCount, int32 *const vertexStrideInBytes,
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const int32 *const indexList, int32 maxIndexCount, const int32 *const userDataList);
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typedef dFloat(*NewtonCollisionTreeRayCastCallback)(const NewtonBody *const body, const NewtonCollision *const treeCollision, dFloat interception, dFloat *normal, int faceId, void *usedData);
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typedef dFloat(*NewtonHeightFieldRayCastCallback)(const NewtonBody *const body, const NewtonCollision *const heightFieldCollision, dFloat interception, int row, int col, dFloat *normal, int faceId, void *usedData);
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// collision tree call back (obsoleted no recommended)
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typedef void (*NewtonTreeCollisionCallback)(const NewtonBody *const bodyWithTreeCollision, const NewtonBody *const body, int faceID,
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int vertexCount, const dFloat *const vertex, int vertexStrideInBytes);
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typedef void (*NewtonBodyDestructor)(const NewtonBody *const body);
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typedef void (*NewtonApplyForceAndTorque)(NewtonBody *const body, dFloat timestep, int32 threadIndex);
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typedef void (*NewtonSetTransform)(const NewtonBody *const body, const dFloat *const matrix, int32 threadIndex);
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typedef int (*NewtonIslandUpdate)(const NewtonWorld *const newtonWorld, const void *islandHandle, int bodyCount);
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typedef void (*NewtonBodyLeaveWorld)(const NewtonBody *const body, int threadIndex);
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typedef void (*NewtonDestroyBodyByExeciveForce)(const NewtonBody *const body, const NewtonJoint *const contact);
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typedef void (*NewtonCollisionDestructor)(const NewtonWorld *const newtonWorld, const NewtonCollision *const collision);
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typedef int (*NewtonCollisionCompoundBreakableCallback)(NewtonMesh *const mesh, void *const userData, dFloat *const planeMatrixOut);
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typedef int (*NewtonGetBuoyancyPlane)(const int32 collisionID, void *const context, const dFloat *const globalSpaceMatrix, dFloat *const globalSpacePlane);
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typedef unsigned(*NewtonWorldRayPrefilterCallback)(const NewtonBody *const body, const NewtonCollision *const collision, void *const userData);
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typedef dFloat(*NewtonWorldRayFilterCallback)(const NewtonBody *const body, const dFloat *const hitNormal, int collisionID, void *const userData, dFloat intersectParam);
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typedef int (*NewtonOnAABBOverlap)(const NewtonMaterial *const material, const NewtonBody *const body0, const NewtonBody *const body1, int32 threadIndex);
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typedef void (*NewtonContactsProcess)(const NewtonJoint *const contact, dFloat timestep, int32 threadIndex);
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typedef void (*NewtonBodyIterator)(const NewtonBody *const body, void *const userData);
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typedef void (*NewtonJointIterator)(const NewtonJoint *const joint, void *const userData);
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typedef void (*NewtonCollisionIterator)(void *const userData, int vertexCount, const dFloat *const faceArray, int faceId);
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typedef void (*NewtonBallCallBack)(const NewtonJoint *const ball, dFloat timestep);
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typedef unsigned(*NewtonHingeCallBack)(const NewtonJoint *const hinge, NewtonHingeSliderUpdateDesc *const desc);
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typedef unsigned(*NewtonSliderCallBack)(const NewtonJoint *const slider, NewtonHingeSliderUpdateDesc *const desc);
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typedef unsigned(*NewtonUniversalCallBack)(const NewtonJoint *const universal, NewtonHingeSliderUpdateDesc *const desc);
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typedef unsigned(*NewtonCorkscrewCallBack)(const NewtonJoint *const corkscrew, NewtonHingeSliderUpdateDesc *const desc);
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typedef void (*NewtonUserBilateralCallBack)(const NewtonJoint *const userJoint, dFloat timestep, int threadIndex);
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typedef void (*NewtonUserBilateralGetInfoCallBack)(const NewtonJoint *const userJoint, NewtonJointRecord *const info);
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typedef void (*NewtonConstraintDestructor)(const NewtonJoint *const me);
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// typedef void (*NewtonSetRagDollTransform) (const NewtonRagDollBone* const bone);
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// typedef void (*NewtonBodyActivationState) (const NewtonBody* const body, unsigned state);
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// typedef void (*NewtonVehicleTireUpdate) (const NewtonJoint* const vehicle, dFloat timestep);
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void NewtonInitGlobals();
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void NewtonDestroyGlobals();
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// **********************************************************************************************
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//
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// world control functions
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//
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// **********************************************************************************************
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NEWTON_API int NewtonWorldGetVersion();
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NEWTON_API int NewtonWorldFloatSize();
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NEWTON_API int NewtonGetMemoryUsed();
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NEWTON_API void NewtonSetMemorySystem(NewtonAllocMemory malloc, NewtonFreeMemory mfree);
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NEWTON_API NewtonWorld *NewtonCreate();
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NEWTON_API void NewtonDestroy(const NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonDestroyAllBodies(const NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonUpdate(NewtonWorld *const newtonWorld, dFloat timestep);
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NEWTON_API void NewtonInvalidateCache(NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonCollisionUpdate(NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonSetSolverModel(NewtonWorld *const newtonWorld, int model);
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NEWTON_API void NewtonSetPlatformArchitecture(NewtonWorld *const newtonWorld, int mode);
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NEWTON_API int NewtonGetPlatformArchitecture(const NewtonWorld *const newtonWorld, char *description);
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NEWTON_API void NewtonSetMultiThreadSolverOnSingleIsland(NewtonWorld *const newtonWorld, int mode);
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NEWTON_API int NewtonGetMultiThreadSolverOnSingleIsland(const NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonSetPerformanceClock(NewtonWorld *const newtonWorld, NewtonGetTicksCountCallback callback);
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NEWTON_API unsigned NewtonReadPerformanceTicks(const NewtonWorld *const newtonWorld, unsigned performanceEntry);
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NEWTON_API unsigned NewtonReadThreadPerformanceTicks(const NewtonWorld *newtonWorld, unsigned threadIndex);
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NEWTON_API void NewtonWorldCriticalSectionLock(NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonWorldCriticalSectionUnlock(NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonSetThreadsCount(NewtonWorld *const newtonWorld, int threads);
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NEWTON_API int NewtonGetThreadsCount(const NewtonWorld *const newtonWorld);
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NEWTON_API int NewtonGetMaxThreadsCount(const NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonSetFrictionModel(NewtonWorld *const newtonWorld, int model);
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NEWTON_API void NewtonSetMinimumFrameRate(NewtonWorld *const newtonWorld, dFloat frameRate);
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NEWTON_API void NewtonSetBodyLeaveWorldEvent(NewtonWorld *const newtonWorld, NewtonBodyLeaveWorld callback);
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NEWTON_API void NewtonSetWorldSize(NewtonWorld *const newtonWorld, const dFloat *const minPoint, const dFloat *const maxPoint);
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NEWTON_API void NewtonSetIslandUpdateEvent(NewtonWorld *const newtonWorld, NewtonIslandUpdate islandUpdate);
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NEWTON_API void NewtonSetCollisionDestructor(NewtonWorld *const newtonWorld, NewtonCollisionDestructor callback);
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NEWTON_API void NewtonSetDestroyBodyByExeciveForce(NewtonWorld *const newtonWorld, NewtonDestroyBodyByExeciveForce callback);
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// NEWTON_API void NewtonWorldForEachBodyDo (const NewtonWorld* const newtonWorld, NewtonBodyIterator callback);
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NEWTON_API void NewtonWorldForEachJointDo(const NewtonWorld *const newtonWorld, NewtonJointIterator callback, void *const userData);
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NEWTON_API void NewtonWorldForEachBodyInAABBDo(const NewtonWorld *const newtonWorld, const dFloat *const p0, const dFloat *const p1, NewtonBodyIterator callback, void *const userData);
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NEWTON_API void NewtonWorldSetUserData(NewtonWorld *const newtonWorld, void *const userData);
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NEWTON_API void *NewtonWorldGetUserData(const NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonWorldSetDestructorCallBack(NewtonWorld *const newtonWorld, NewtonDestroyWorld destructor);
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NEWTON_API NewtonDestroyWorld NewtonWorldGetDestructorCallBack(const NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonWorldRayCast(NewtonWorld *const newtonWorld, const dFloat *const p0, const dFloat *const p1, NewtonWorldRayFilterCallback filter, void *const userData,
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NewtonWorldRayPrefilterCallback prefilter);
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NEWTON_API int NewtonWorldConvexCast(NewtonWorld *const newtonWorld, const dFloat *const matrix, const dFloat *const target, NewtonCollision *shape, dFloat *const hitParam, void *const userData,
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NewtonWorldRayPrefilterCallback prefilter, NewtonWorldConvexCastReturnInfo *info, int maxContactsCount, int threadIndex);
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// world utility functions
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NEWTON_API int NewtonWorldGetBodyCount(const NewtonWorld *const newtonWorld);
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NEWTON_API int NewtonWorldGetConstraintCount(const NewtonWorld *const newtonWorld);
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// NEWTON_API int NewtonGetActiveBodiesCount();
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// NEWTON_API int NewtonGetActiveConstraintsCount();
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// NEWTON_API dFloat NewtonGetGlobalScale (const NewtonWorld* const newtonWorld);
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// **********************************************************************************************
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//
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// Simulation islands
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//
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// **********************************************************************************************
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NEWTON_API NewtonBody *NewtonIslandGetBody(const void *const island, int bodyIndex);
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NEWTON_API void NewtonIslandGetBodyAABB(const void *const island, int bodyIndex, dFloat *const p0, dFloat *const p1);
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// **********************************************************************************************
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//
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// Physics Material Section
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//
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// **********************************************************************************************
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NEWTON_API int NewtonMaterialCreateGroupID(NewtonWorld *const newtonWorld);
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NEWTON_API int NewtonMaterialGetDefaultGroupID(const NewtonWorld *const newtonWorld);
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NEWTON_API void NewtonMaterialDestroyAllGroupID(NewtonWorld *const newtonWorld);
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// material definitions that can not be overwritten in function callback
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NEWTON_API void *NewtonMaterialGetUserData(const NewtonWorld *const newtonWorld, int id0, int id1);
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NEWTON_API void NewtonMaterialSetSurfaceThickness(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat thickness);
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NEWTON_API void NewtonMaterialSetContinuousCollisionMode(const NewtonWorld *const newtonWorld, int id0, int id1, int state);
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NEWTON_API void NewtonMaterialSetCollisionCallback(const NewtonWorld *const newtonWorld, int id0, int id1, void *const userData,
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NewtonOnAABBOverlap aabbOverlap, NewtonContactsProcess process);
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NEWTON_API void NewtonMaterialSetDefaultSoftness(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat value);
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NEWTON_API void NewtonMaterialSetDefaultElasticity(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat elasticCoef);
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NEWTON_API void NewtonMaterialSetDefaultCollidable(const NewtonWorld *const newtonWorld, int id0, int id1, int state);
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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);
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|
|
|
NEWTON_API int NewtonContactJointGetContactCount(const NewtonJoint *const contactJoint);
|
|
NEWTON_API void NewtonContactJointRemoveContact(NewtonJoint *contactJoint, void *const contact);
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|
|
NEWTON_API NewtonMaterial *NewtonContactGetMaterial(void *const contact);
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NEWTON_API void NewtonBodyAddBuoyancyForce(NewtonBody *const body, dFloat fluidDensity,
|
|
dFloat fluidLinearViscosity, dFloat fluidAngularViscosity,
|
|
const dFloat *const gravityVector, NewtonGetBuoyancyPlane buoyancyPlane, void *const context);
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// NEWTON_API void NewtonBodyForEachPolygonDo (const NewtonBody* const body, NewtonCollisionIterator callback);
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NEWTON_API void NewtonBodyAddImpulse(NewtonBody *body, const dFloat *const pointDeltaVeloc, const dFloat *const pointPosit);
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NEWTON_API void NewtonBodyApplyImpulseArray(NewtonBody *body, int impuleCount, int strideInByte, const dFloat *const impulseArray, const dFloat *const pointArray);
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// **********************************************************************************************
|
|
//
|
|
// Common joint functions
|
|
//
|
|
// **********************************************************************************************
|
|
NEWTON_API void *NewtonJointGetUserData(const NewtonJoint *const joint);
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NEWTON_API void NewtonJointSetUserData(NewtonJoint *joint, void *const userData);
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NEWTON_API NewtonBody *NewtonJointGetBody0(const NewtonJoint *const joint);
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|
NEWTON_API NewtonBody *NewtonJointGetBody1(const NewtonJoint *const joint);
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|
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NEWTON_API void NewtonJointGetInfo(const NewtonJoint *const joint, NewtonJointRecord *const info);
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NEWTON_API int NewtonJointGetCollisionState(const NewtonJoint *const joint);
|
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NEWTON_API void NewtonJointSetCollisionState(NewtonJoint *joint, int state);
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NEWTON_API dFloat NewtonJointGetStiffness(const NewtonJoint *const joint);
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NEWTON_API void NewtonJointSetStiffness(NewtonJoint *joint, dFloat state);
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NEWTON_API void NewtonDestroyJoint(NewtonWorld *newtonWorld, NewtonJoint *joint);
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NEWTON_API void NewtonJointSetDestructor(const NewtonJoint *const joint, NewtonConstraintDestructor destructor);
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// **********************************************************************************************
|
|
//
|
|
// 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);
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|
NEWTON_API void NewtonBallGetJointAngle(const NewtonJoint *const ball, dFloat *angle);
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|
NEWTON_API void NewtonBallGetJointOmega(const NewtonJoint *const ball, dFloat *omega);
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|
NEWTON_API void NewtonBallGetJointForce(const NewtonJoint *const ball, dFloat *const force);
|
|
NEWTON_API void NewtonBallSetConeLimits(NewtonJoint *ball, const dFloat *pin, dFloat maxConeAngle, dFloat maxTwistAngle);
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|
|
// **********************************************************************************************
|
|
//
|
|
// Hinge joint functions
|
|
//
|
|
// **********************************************************************************************
|
|
NEWTON_API NewtonJoint *NewtonConstraintCreateHinge(NewtonWorld *newtonWorld,
|
|
const dFloat *pivotPoint, const dFloat *pinDir,
|
|
NewtonBody *childBody, NewtonBody *parentBody);
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|
|
|
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
|