1060 lines
65 KiB
C
1060 lines
65 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__736495_6495_076__INCLUDED_
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#define NEWTON_H__736495_6495_076__INCLUDED_
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#define NEWTON_MAJOR_VERSION 2
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#define NEWTON_MINOR_VERSION 35
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#ifdef _NEWTON_STATIC_LIB
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#define NEWTON_API
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#else
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#ifdef _NEWTON_BUILD_DLL
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#ifdef _WIN32
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#define NEWTON_API __declspec (dllexport)
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#else
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#define NEWTON_API __attribute__ ((visibility("default")))
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#endif
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#else
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#ifdef _WIN32
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#define NEWTON_API __declspec (dllimport)
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#else
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#define NEWTON_API
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#endif
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#endif
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#endif
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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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typedef struct NewtonMesh{} NewtonMesh;
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typedef struct NewtonBody{} NewtonBody;
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typedef struct NewtonWorld{} NewtonWorld;
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typedef struct NewtonJoint{} NewtonJoint;
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typedef struct NewtonMaterial{} NewtonMaterial;
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typedef struct NewtonCollision{} NewtonCollision;
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typedef struct NewtonSceneProxy{} NewtonSceneProxy;
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typedef struct NewtonbreakableComponentMesh{} 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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{
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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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{
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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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{
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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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{
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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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{
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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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{
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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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{
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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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{
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NewtonCollision* m_chidren;
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};
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struct NewtonCompoundCollisionParam
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{
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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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{
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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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{
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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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{
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int m_childrenProxyCount;
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};
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struct NewtonCollisionInfoRecord
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{
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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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{
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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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{
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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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{
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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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{
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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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{
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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, int size);
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typedef void (*NewtonDeserialize) (void* const serializeHandle, void* buffer, int 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 int (*NewtonUserMeshCollisionGetFacesInAABB) (void* const userData, const dFloat* const p0, const dFloat* const p1,
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const dFloat** const vertexArray, int* const vertexCount, int* const vertexStrideInBytes,
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const int* const indexList, int maxIndexCount, const int* 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) (const NewtonBody* const body, dFloat timestep, int threadIndex);
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typedef void (*NewtonSetTransform) (const NewtonBody* const body, const dFloat* const matrix, int 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 int 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, int threadIndex);
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typedef void (*NewtonContactsProcess) (const NewtonJoint* const contact, dFloat timestep, int 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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// **********************************************************************************************
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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 (const NewtonWorld* const newtonWorld, dFloat timestep);
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NEWTON_API void NewtonInvalidateCache (const NewtonWorld* const newtonWorld);
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NEWTON_API void NewtonCollisionUpdate (const NewtonWorld* const newtonWorld);
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NEWTON_API void NewtonSetSolverModel (const NewtonWorld* const newtonWorld, int model);
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NEWTON_API void NewtonSetPlatformArchitecture (const 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 (const 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 (const 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 (const NewtonWorld* const newtonWorld);
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NEWTON_API void NewtonWorldCriticalSectionUnlock (const NewtonWorld* const newtonWorld);
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NEWTON_API void NewtonSetThreadsCount (const 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 (const NewtonWorld* const newtonWorld, int model);
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NEWTON_API void NewtonSetMinimumFrameRate (const NewtonWorld* const newtonWorld, dFloat frameRate);
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NEWTON_API void NewtonSetBodyLeaveWorldEvent (const NewtonWorld* const newtonWorld, NewtonBodyLeaveWorld callback);
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NEWTON_API void NewtonSetWorldSize (const NewtonWorld* const newtonWorld, const dFloat* const minPoint, const dFloat* const maxPoint);
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NEWTON_API void NewtonSetIslandUpdateEvent (const NewtonWorld* const newtonWorld, NewtonIslandUpdate islandUpdate);
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NEWTON_API void NewtonSetCollisionDestructor (const NewtonWorld* const newtonWorld, NewtonCollisionDestructor callback);
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NEWTON_API void NewtonSetDestroyBodyByExeciveForce (const 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 (const 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 (const 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 (const 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 (const NewtonWorld* const newtonWorld, const dFloat* const matrix, const dFloat* const target, const 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(const NewtonWorld* const newtonWorld);
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NEWTON_API int NewtonMaterialGetDefaultGroupID(const NewtonWorld* const newtonWorld);
|
|
NEWTON_API void NewtonMaterialDestroyAllGroupID(const 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, const 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 (const NewtonMaterial* const material, dFloat softness);
|
|
NEWTON_API void NewtonMaterialSetContactElasticity (const NewtonMaterial* const material, dFloat restitution);
|
|
NEWTON_API void NewtonMaterialSetContactFrictionState (const NewtonMaterial* const material, int state, int index);
|
|
NEWTON_API void NewtonMaterialSetContactFrictionCoef (const NewtonMaterial* const material, dFloat staticFrictionCoef, dFloat kineticFrictionCoef, int index);
|
|
|
|
NEWTON_API void NewtonMaterialSetContactNormalAcceleration (const NewtonMaterial* const material, dFloat accel);
|
|
NEWTON_API void NewtonMaterialSetContactNormalDirection (const NewtonMaterial* const material, const dFloat* const directionVector);
|
|
|
|
NEWTON_API void NewtonMaterialSetContactTangentAcceleration (const NewtonMaterial* const material, dFloat accel, int index);
|
|
NEWTON_API void NewtonMaterialContactRotateTangentDirections (const NewtonMaterial* const material, const dFloat* const directionVector);
|
|
|
|
|
|
|
|
// **********************************************************************************************
|
|
//
|
|
// convex collision primitives creation functions
|
|
//
|
|
// **********************************************************************************************
|
|
NEWTON_API NewtonCollision* NewtonCreateNull (const NewtonWorld* const newtonWorld);
|
|
NEWTON_API NewtonCollision* NewtonCreateSphere (const NewtonWorld* const newtonWorld, dFloat radiusX, dFloat radiusY, dFloat radiusZ, int shapeID, const dFloat* const offsetMatrix);
|
|
NEWTON_API NewtonCollision* NewtonCreateBox (const NewtonWorld* const newtonWorld, dFloat dx, dFloat dy, dFloat dz, int shapeID, const dFloat* const offsetMatrix);
|
|
NEWTON_API NewtonCollision* NewtonCreateCone (const NewtonWorld* const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat* const offsetMatrix);
|
|
NEWTON_API NewtonCollision* NewtonCreateCapsule (const NewtonWorld* const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat* const offsetMatrix);
|
|
NEWTON_API NewtonCollision* NewtonCreateCylinder (const NewtonWorld* const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat* const offsetMatrix);
|
|
NEWTON_API NewtonCollision* NewtonCreateChamferCylinder (const NewtonWorld* const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat* const offsetMatrix);
|
|
NEWTON_API NewtonCollision* NewtonCreateConvexHull (const 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 (const NewtonWorld* const newtonWorld, const NewtonCollision* const convexHullCollision, int shapeID);
|
|
NEWTON_API void NewtonConvexHullModifierGetMatrix (const NewtonCollision* const convexHullCollision, dFloat* const matrix);
|
|
NEWTON_API void NewtonConvexHullModifierSetMatrix (const NewtonCollision* const convexHullCollision, const dFloat* const matrix);
|
|
|
|
NEWTON_API int NewtonCollisionIsTriggerVolume(const NewtonCollision* const convexCollision);
|
|
NEWTON_API void NewtonCollisionSetAsTriggerVolume(const NewtonCollision* convexCollision, int trigger);
|
|
|
|
NEWTON_API void NewtonCollisionSetMaxBreakImpactImpulse(const NewtonCollision* const convexHullCollision, dFloat maxImpactImpulse);
|
|
NEWTON_API dFloat NewtonCollisionGetMaxBreakImpactImpulse(const NewtonCollision* const convexHullCollision);
|
|
|
|
NEWTON_API void NewtonCollisionSetUserID (const NewtonCollision* convexCollision, unsigned id);
|
|
NEWTON_API unsigned NewtonCollisionGetUserID (const NewtonCollision* const convexCollision);
|
|
|
|
NEWTON_API int NewtonConvexHullGetFaceIndices (const NewtonCollision* const convexHullCollision, int face, int* 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 (const NewtonWorld* const newtonWorld, const NewtonCollision* const collision);
|
|
NEWTON_API void NewtonReleaseCollision (const NewtonWorld* const newtonWorld, const NewtonCollision* const collision);
|
|
NEWTON_API int NewtonAddCollisionReference (const 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 (const NewtonWorld* const newtonWorld, int count, NewtonCollision* const collisionPrimitiveArray[], int shapeID);
|
|
NEWTON_API NewtonCollision* NewtonCreateCompoundCollisionFromMesh (const 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, int* const shapeIDArray, dFloat* const densities,
|
|
// int shapeID, int debriID, NewtonCollisionCompoundBreakableCallback callback, void* buildUsedData);
|
|
|
|
NEWTON_API NewtonCollision* NewtonCreateCompoundBreakable (const NewtonWorld* const newtonWorld, int meshCount,
|
|
const NewtonMesh** const solids, const int* const shapeIDArray,
|
|
const dFloat* const densities, const int* const internalFaceMaterial,
|
|
int shapeID, int debriID, dFloat debriSeparationGap);
|
|
|
|
|
|
NEWTON_API void NewtonCompoundBreakableResetAnchoredPieces (const NewtonCollision* const compoundBreakable);
|
|
NEWTON_API void NewtonCompoundBreakableSetAnchoredPieces (const 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 NewtonbreakableComponentMesh* NewtonBreakableGetNextComponent (const NewtonbreakableComponentMesh* const component);
|
|
|
|
NEWTON_API void NewtonBreakableBeginDelete (const NewtonCollision* const compoundBreakable);
|
|
NEWTON_API NewtonBody* NewtonBreakableCreateDebrieBody (const NewtonCollision* const compoundBreakable, const NewtonbreakableComponentMesh* const component);
|
|
NEWTON_API void NewtonBreakableDeleteComponent (const NewtonCollision* const compoundBreakable, const NewtonbreakableComponentMesh* const component);
|
|
NEWTON_API void NewtonBreakableEndDelete (const 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 (const NewtonbreakableComponentMesh* const breakableComponent);
|
|
NEWTON_API void* NewtonBreakableGetNextSegment (const void* const segment);
|
|
|
|
NEWTON_API int NewtonBreakableSegmentGetMaterial (const void* const segment);
|
|
NEWTON_API int NewtonBreakableSegmentGetIndexCount (const void* const segment);
|
|
NEWTON_API int NewtonBreakableSegmentGetIndexStream (const NewtonCollision* const compoundBreakable, const NewtonbreakableComponentMesh* const meshOwner, const void* const segment, int* const index);
|
|
NEWTON_API int NewtonBreakableSegmentGetIndexStreamShort (const NewtonCollision* const compoundBreakable, const NewtonbreakableComponentMesh* const meshOwner, const void* const segment, short int* const index);
|
|
|
|
|
|
NEWTON_API NewtonCollision* NewtonCreateUserMeshCollision (const 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 (const NewtonWorld* const newtonWorld, int shapeID);
|
|
NEWTON_API NewtonSceneProxy* NewtonSceneCollisionCreateProxy (NewtonCollision* const scene, NewtonCollision* const collision, const 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 (const 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 (const NewtonWorld* const newtonWorld, int width, int height, int gridsDiagonals,
|
|
const unsigned short* const elevationMap, const char* const attributeMap,
|
|
dFloat horizontalScale, dFloat verticalScale, int shapeID);
|
|
NEWTON_API void NewtonHeightFieldSetUserRayCastCallback (const NewtonCollision* const treeCollision, NewtonHeightFieldRayCastCallback rayHitCallback);
|
|
|
|
|
|
NEWTON_API NewtonCollision* NewtonCreateTreeCollision (const 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 (const NewtonCollision* treeCollision);
|
|
NEWTON_API void NewtonTreeCollisionAddFace (const NewtonCollision* const treeCollision, int vertexCount, const dFloat* const vertexPtr, int strideInBytes, int faceAttribute);
|
|
NEWTON_API void NewtonTreeCollisionEndBuild (const NewtonCollision* const treeCollision, int optimize);
|
|
|
|
NEWTON_API int NewtonTreeCollisionGetFaceAtribute (const NewtonCollision* const treeCollision, const int* const faceIndexArray);
|
|
NEWTON_API void NewtonTreeCollisionSetFaceAtribute (const NewtonCollision* const treeCollision, const int* const faceIndexArray, int attribute);
|
|
NEWTON_API int NewtonTreeCollisionGetVertexListIndexListInAABB (const NewtonCollision* const treeCollision, const dFloat* const p0, const dFloat* const p1, const dFloat** const vertexArray, int* const vertexCount, int* const vertexStrideInBytes, const int* const indexList, int maxIndexCount, const int* const faceAttribute);
|
|
|
|
|
|
NEWTON_API void NewtonStaticCollisionSetDebugCallback (const NewtonCollision* const staticCollision, NewtonTreeCollisionCallback userCallback);
|
|
|
|
// **********************************************************************************************
|
|
//
|
|
// General purpose collision library functions
|
|
//
|
|
// **********************************************************************************************
|
|
NEWTON_API int NewtonCollisionPointDistance (const NewtonWorld* const newtonWorld, const dFloat* const point,
|
|
const NewtonCollision* const collision, const dFloat* const matrix, dFloat* const contact, dFloat* const normal, int threadIndex);
|
|
|
|
NEWTON_API int NewtonCollisionClosestPoint (const NewtonWorld* const newtonWorld,
|
|
const NewtonCollision* const collisionA, const dFloat* const matrixA, const NewtonCollision* const collisionB, const dFloat* const matrixB,
|
|
dFloat* const contactA, dFloat* const contactB, dFloat* const normalAB, int threadIndex);
|
|
|
|
NEWTON_API int NewtonCollisionCollide (const NewtonWorld* const newtonWorld, int maxSize,
|
|
const NewtonCollision* const collisionA, const dFloat* const matrixA,
|
|
const NewtonCollision* const collisionB, const dFloat* const matrixB,
|
|
dFloat* const contacts, dFloat* const normals, dFloat* const penetration, int threadIndex);
|
|
|
|
NEWTON_API int NewtonCollisionCollideContinue (const NewtonWorld* const newtonWorld, int maxSize, const dFloat timestep,
|
|
const NewtonCollision* const collisionA, const dFloat* const matrixA, const dFloat* const velocA, const dFloat* omegaA,
|
|
const 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 (const NewtonWorld* const newtonWorld, const NewtonCollision* const collision, const dFloat* const matrix);
|
|
NEWTON_API void NewtonDestroyBody(const NewtonWorld* const newtonWorld, const NewtonBody* const body);
|
|
|
|
NEWTON_API void NewtonBodyAddForce (const NewtonBody* const body, const dFloat* const force);
|
|
NEWTON_API void NewtonBodyAddTorque (const 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 (const NewtonBody* const body, const dFloat* const matrix);
|
|
NEWTON_API void NewtonBodySetMatrixRecursive (const NewtonBody* const body, const dFloat* const matrix);
|
|
NEWTON_API void NewtonBodySetMassMatrix (const NewtonBody* const body, dFloat mass, dFloat Ixx, dFloat Iyy, dFloat Izz);
|
|
NEWTON_API void NewtonBodySetMaterialGroupID (const NewtonBody* const body, int id);
|
|
NEWTON_API void NewtonBodySetContinuousCollisionMode (const NewtonBody* const body, unsigned state);
|
|
NEWTON_API void NewtonBodySetJointRecursiveCollision (const NewtonBody* const body, unsigned state);
|
|
NEWTON_API void NewtonBodySetOmega (const NewtonBody* const body, const dFloat* const omega);
|
|
NEWTON_API void NewtonBodySetVelocity (const NewtonBody* const body, const dFloat* const velocity);
|
|
NEWTON_API void NewtonBodySetForce (const NewtonBody* const body, const dFloat* const force);
|
|
NEWTON_API void NewtonBodySetTorque (const NewtonBody* const body, const dFloat* const torque);
|
|
|
|
NEWTON_API void NewtonBodySetCentreOfMass (const NewtonBody* const body, const dFloat* const com);
|
|
NEWTON_API void NewtonBodySetLinearDamping (const NewtonBody* const body, dFloat linearDamp);
|
|
NEWTON_API void NewtonBodySetAngularDamping (const NewtonBody* const body, const dFloat* const angularDamp);
|
|
NEWTON_API void NewtonBodySetUserData (const NewtonBody* const body, void* const userData);
|
|
NEWTON_API void NewtonBodySetCollision (const NewtonBody* const body, const NewtonCollision* const collision);
|
|
|
|
|
|
|
|
NEWTON_API int NewtonBodyGetSleepState (const NewtonBody* const body);
|
|
NEWTON_API int NewtonBodyGetAutoSleep (const NewtonBody* const body);
|
|
NEWTON_API void NewtonBodySetAutoSleep (const NewtonBody* const body, int state);
|
|
|
|
NEWTON_API int NewtonBodyGetFreezeState(const NewtonBody* const body);
|
|
NEWTON_API void NewtonBodySetFreezeState (const NewtonBody* const 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 (const NewtonBody* const body, NewtonBodyDestructor callback);
|
|
|
|
NEWTON_API void NewtonBodySetTransformCallback (const NewtonBody* const body, NewtonSetTransform callback);
|
|
NEWTON_API NewtonSetTransform NewtonBodyGetTransformCallback (const NewtonBody* const body);
|
|
|
|
NEWTON_API void NewtonBodySetForceAndTorqueCallback (const 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);
|
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NEWTON_API void NewtonBodyGetMatrix(const NewtonBody* const body, dFloat* const matrix);
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NEWTON_API void NewtonBodyGetRotation(const NewtonBody* const body, dFloat* const rotation);
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NEWTON_API void NewtonBodyGetMassMatrix (const NewtonBody* const body, dFloat* mass, dFloat* const Ixx, dFloat* const Iyy, dFloat* const Izz);
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NEWTON_API void NewtonBodyGetInvMass(const NewtonBody* const body, dFloat* const invMass, dFloat* const invIxx, dFloat* const invIyy, dFloat* const invIzz);
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NEWTON_API void NewtonBodyGetOmega(const NewtonBody* const body, dFloat* const vector);
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NEWTON_API void NewtonBodyGetVelocity(const NewtonBody* const body, dFloat* const vector);
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NEWTON_API void NewtonBodyGetForce(const NewtonBody* const body, dFloat* const vector);
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NEWTON_API void NewtonBodyGetTorque(const NewtonBody* const body, dFloat* const vector);
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NEWTON_API void NewtonBodyGetForceAcc(const NewtonBody* const body, dFloat* const vector);
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NEWTON_API void NewtonBodyGetTorqueAcc(const NewtonBody* const body, dFloat* const vector);
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NEWTON_API void NewtonBodyGetCentreOfMass (const NewtonBody* const body, dFloat* const com);
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NEWTON_API dFloat NewtonBodyGetLinearDamping (const NewtonBody* const body);
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NEWTON_API void NewtonBodyGetAngularDamping (const NewtonBody* const body, dFloat* const vector);
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NEWTON_API void NewtonBodyGetAABB (const NewtonBody* const body, dFloat* const p0, dFloat* const p1);
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NEWTON_API NewtonJoint* NewtonBodyGetFirstJoint (const NewtonBody* const body);
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NEWTON_API NewtonJoint* NewtonBodyGetNextJoint (const NewtonBody* const body, const NewtonJoint* const joint);
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NEWTON_API NewtonJoint* NewtonBodyGetFirstContactJoint (const NewtonBody* const body);
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NEWTON_API NewtonJoint* NewtonBodyGetNextContactJoint (const NewtonBody* const body, const NewtonJoint* const contactJoint);
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NEWTON_API void* NewtonContactJointGetFirstContact (const NewtonJoint* const contactJoint);
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NEWTON_API void* NewtonContactJointGetNextContact (const NewtonJoint* const contactJoint, void* const contact);
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NEWTON_API int NewtonContactJointGetContactCount(const NewtonJoint* const contactJoint);
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NEWTON_API void NewtonContactJointRemoveContact(const NewtonJoint* const contactJoint, void* const contact);
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NEWTON_API NewtonMaterial* NewtonContactGetMaterial (const void* const contact);
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NEWTON_API void NewtonBodyAddBuoyancyForce (const NewtonBody* const body, dFloat fluidDensity,
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dFloat fluidLinearViscosity, dFloat fluidAngularViscosity,
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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 (const NewtonBody* const body, const dFloat* const pointDeltaVeloc, const dFloat* const pointPosit);
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NEWTON_API void NewtonBodyApplyImpulseArray (const NewtonBody* const body, int impuleCount, int strideInByte, const dFloat* const impulseArray, const dFloat* const pointArray);
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// **********************************************************************************************
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//
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// Common joint functions
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//
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// **********************************************************************************************
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NEWTON_API void* NewtonJointGetUserData (const NewtonJoint* const joint);
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NEWTON_API void NewtonJointSetUserData (const NewtonJoint* const 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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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 (const NewtonJoint* const joint, int state);
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NEWTON_API dFloat NewtonJointGetStiffness (const NewtonJoint* const joint);
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NEWTON_API void NewtonJointSetStiffness (const NewtonJoint* const joint, dFloat state);
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NEWTON_API void NewtonDestroyJoint(const NewtonWorld* const newtonWorld, const NewtonJoint* const joint);
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NEWTON_API void NewtonJointSetDestructor (const NewtonJoint* const joint, NewtonConstraintDestructor destructor);
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// **********************************************************************************************
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//
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// Ball and Socket joint functions
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//
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// **********************************************************************************************
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NEWTON_API NewtonJoint* NewtonConstraintCreateBall (const NewtonWorld* const newtonWorld, const dFloat* pivotPoint,
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const NewtonBody* const childBody, const NewtonBody* const parentBody);
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NEWTON_API void NewtonBallSetUserCallback (const NewtonJoint* const 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);
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NEWTON_API void NewtonBallSetConeLimits (const NewtonJoint* const ball, const dFloat* pin, dFloat maxConeAngle, dFloat maxTwistAngle);
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// **********************************************************************************************
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//
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// Hinge joint functions
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//
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// **********************************************************************************************
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NEWTON_API NewtonJoint* NewtonConstraintCreateHinge (const NewtonWorld* const newtonWorld,
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const dFloat* pivotPoint, const dFloat* pinDir,
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const NewtonBody* const childBody, const NewtonBody* const parentBody);
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NEWTON_API void NewtonHingeSetUserCallback (const NewtonJoint* const hinge, NewtonHingeCallBack callback);
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NEWTON_API dFloat NewtonHingeGetJointAngle (const NewtonJoint* const hinge);
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NEWTON_API dFloat NewtonHingeGetJointOmega (const NewtonJoint* const hinge);
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NEWTON_API void NewtonHingeGetJointForce (const NewtonJoint* const hinge, dFloat* const force);
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NEWTON_API dFloat NewtonHingeCalculateStopAlpha (const NewtonJoint* const hinge, const NewtonHingeSliderUpdateDesc* const desc, dFloat angle);
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// **********************************************************************************************
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//
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|
// Slider joint functions
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//
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// **********************************************************************************************
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NEWTON_API NewtonJoint* NewtonConstraintCreateSlider (const NewtonWorld* const newtonWorld,
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const dFloat* pivotPoint, const dFloat* pinDir,
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const NewtonBody* const childBody, const NewtonBody* const parentBody);
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NEWTON_API void NewtonSliderSetUserCallback (const NewtonJoint* const slider, NewtonSliderCallBack callback);
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NEWTON_API dFloat NewtonSliderGetJointPosit (const NewtonJoint* slider);
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NEWTON_API dFloat NewtonSliderGetJointVeloc (const NewtonJoint* slider);
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NEWTON_API void NewtonSliderGetJointForce (const NewtonJoint* const slider, dFloat* const force);
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NEWTON_API dFloat NewtonSliderCalculateStopAccel (const NewtonJoint* const slider, const NewtonHingeSliderUpdateDesc* const desc, dFloat position);
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// **********************************************************************************************
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//
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|
// Corkscrew joint functions
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//
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// **********************************************************************************************
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NEWTON_API NewtonJoint* NewtonConstraintCreateCorkscrew (const NewtonWorld* const newtonWorld,
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const dFloat* pivotPoint, const dFloat* pinDir,
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const NewtonBody* const childBody, const NewtonBody* const parentBody);
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NEWTON_API void NewtonCorkscrewSetUserCallback (const NewtonJoint* const corkscrew, NewtonCorkscrewCallBack callback);
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NEWTON_API dFloat NewtonCorkscrewGetJointPosit (const NewtonJoint* const corkscrew);
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NEWTON_API dFloat NewtonCorkscrewGetJointAngle (const NewtonJoint* const corkscrew);
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NEWTON_API dFloat NewtonCorkscrewGetJointVeloc (const NewtonJoint* const corkscrew);
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NEWTON_API dFloat NewtonCorkscrewGetJointOmega (const NewtonJoint* const corkscrew);
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NEWTON_API void NewtonCorkscrewGetJointForce (const NewtonJoint* const corkscrew, dFloat* const force);
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NEWTON_API dFloat NewtonCorkscrewCalculateStopAlpha (const NewtonJoint* const corkscrew, const NewtonHingeSliderUpdateDesc* const desc, dFloat angle);
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NEWTON_API dFloat NewtonCorkscrewCalculateStopAccel (const NewtonJoint* const corkscrew, const NewtonHingeSliderUpdateDesc* const desc, dFloat position);
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// **********************************************************************************************
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|
//
|
|
// Universal joint functions
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|
//
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|
// **********************************************************************************************
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|
NEWTON_API NewtonJoint* NewtonConstraintCreateUniversal (const NewtonWorld* const newtonWorld,
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|
const dFloat* pivotPoint, const dFloat* pinDir0, const dFloat* pinDir1,
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const NewtonBody* const childBody, const NewtonBody* const parentBody);
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NEWTON_API void NewtonUniversalSetUserCallback (const NewtonJoint* const universal, NewtonUniversalCallBack callback);
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NEWTON_API dFloat NewtonUniversalGetJointAngle0 (const NewtonJoint* const universal);
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|
NEWTON_API dFloat NewtonUniversalGetJointAngle1 (const NewtonJoint* const universal);
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|
NEWTON_API dFloat NewtonUniversalGetJointOmega0 (const NewtonJoint* const universal);
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|
NEWTON_API dFloat NewtonUniversalGetJointOmega1 (const NewtonJoint* const universal);
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NEWTON_API void NewtonUniversalGetJointForce (const NewtonJoint* const universal, dFloat* const force);
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|
NEWTON_API dFloat NewtonUniversalCalculateStopAlpha0 (const NewtonJoint* const universal, const NewtonHingeSliderUpdateDesc* const desc, dFloat angle);
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|
NEWTON_API dFloat NewtonUniversalCalculateStopAlpha1 (const NewtonJoint* const universal, const NewtonHingeSliderUpdateDesc* const desc, dFloat angle);
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|
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// **********************************************************************************************
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|
//
|
|
// Up vector joint functions
|
|
//
|
|
// **********************************************************************************************
|
|
NEWTON_API NewtonJoint* NewtonConstraintCreateUpVector (const NewtonWorld* const newtonWorld, const dFloat* pinDir, const NewtonBody* const body);
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|
NEWTON_API void NewtonUpVectorGetPin (const NewtonJoint* const upVector, dFloat *pin);
|
|
NEWTON_API void NewtonUpVectorSetPin (const NewtonJoint* const upVector, const dFloat *pin);
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|
|
|
|
// **********************************************************************************************
|
|
//
|
|
// 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) ;
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|
NEWTON_API void NewtonUserJointSetFeedbackCollectorCallback (const NewtonJoint* const joint, NewtonUserBilateralCallBack getFeedback);
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|
NEWTON_API void NewtonUserJointAddLinearRow (const NewtonJoint* const joint, const dFloat* const pivot0, const dFloat* const pivot1, const dFloat* const dir);
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|
NEWTON_API void NewtonUserJointAddAngularRow (const NewtonJoint* const joint, dFloat relativeAngle, const dFloat* const dir);
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|
NEWTON_API void NewtonUserJointAddGeneralRow (const NewtonJoint* const joint, const dFloat* const jacobian0, const dFloat* const jacobian1);
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|
NEWTON_API void NewtonUserJointSetRowMinimumFriction (const NewtonJoint* const joint, dFloat friction);
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|
NEWTON_API void NewtonUserJointSetRowMaximumFriction (const NewtonJoint* const joint, dFloat friction);
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|
NEWTON_API void NewtonUserJointSetRowAcceleration (const NewtonJoint* const joint, dFloat acceleration);
|
|
NEWTON_API void NewtonUserJointSetRowSpringDamperAcceleration (const NewtonJoint* const joint, dFloat springK, dFloat springD);
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|
NEWTON_API void NewtonUserJointSetRowStiffness (const NewtonJoint* const joint, dFloat stiffness);
|
|
NEWTON_API dFloat NewtonUserJointGetRowForce (const NewtonJoint* const joint, int row);
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|
|
|
|
// **********************************************************************************************
|
|
//
|
|
// Mesh joint functions
|
|
//
|
|
// **********************************************************************************************
|
|
NEWTON_API NewtonMesh* NewtonMeshCreate(const NewtonWorld* const newtonWorld);
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|
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);
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|
|
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);
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|
|
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);
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|
|
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);
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|
|
|
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);
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|
|
|
|
|
NEWTON_API void NewtonRemoveUnusedVertices(const NewtonMesh* const mesh, int* const vertexRemapTable);
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|
|
|
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 int* const faceIndexCount, const int* const faceMaterialIndex,
|
|
const dFloat* const vertex, int vertexStrideInBytes, const int* const vertexIndex,
|
|
const dFloat* const normal, int normalStrideInBytes, const int* const normalIndex,
|
|
const dFloat* const uv0, int uv0StrideInBytes, const int* const uv0Index,
|
|
const dFloat* const uv1, int uv1StrideInBytes, const int* 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, int* 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, int* const faceIndexCount, int* 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, const void* const vertex);
|
|
NEWTON_API int NewtonMeshGetVertexIndex (const NewtonMesh* const mesh, const void* const vertex);
|
|
|
|
NEWTON_API void* NewtonMeshGetFirstPoint (const NewtonMesh* const mesh);
|
|
NEWTON_API void* NewtonMeshGetNextPoint (const NewtonMesh* const mesh, const void* const point);
|
|
NEWTON_API int NewtonMeshGetPointIndex (const NewtonMesh* const mesh, const void* const point);
|
|
NEWTON_API int NewtonMeshGetVertexIndexFromPoint (const NewtonMesh* const mesh, const void* const point);
|
|
|
|
|
|
NEWTON_API void* NewtonMeshGetFirstEdge (const NewtonMesh* const mesh);
|
|
NEWTON_API void* NewtonMeshGetNextEdge (const NewtonMesh* const mesh, const void* const edge);
|
|
NEWTON_API void NewtonMeshGetEdgeIndices (const NewtonMesh* const mesh, const void* const edge, int* const v0, int* 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, const 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
|
|
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