326 lines
10 KiB
C
326 lines
10 KiB
C
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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/** @defgroup drawstuff DrawStuff
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DrawStuff is a library for rendering simple 3D objects in a virtual
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environment, for the purposes of demonstrating the features of ODE.
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It is provided for demonstration purposes and is not intended for
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production use.
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@section Notes
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In the virtual world, the z axis is "up" and z=0 is the floor.
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The user is able to click+drag in the main window to move the camera:
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* left button - pan and tilt.
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* right button - forward and sideways.
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* left + right button (or middle button) - sideways and up.
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*/
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#ifndef __DRAWSTUFF_H__
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#define __DRAWSTUFF_H__
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/* Define a DLL export symbol for those platforms that need it */
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#if defined(ODE_PLATFORM_WINDOWS)
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#if defined(DS_DLL)
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#define DS_API __declspec(dllexport)
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#elif !defined(DS_LIB)
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#define DS_DLL_API __declspec(dllimport)
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#endif
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#endif
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#if !defined(DS_API)
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#define DS_API
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <drawstuff/version.h>
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/* texture numbers */
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enum DS_TEXTURE_NUMBER
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{
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DS_NONE = 0, /* uses the current color instead of a texture */
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DS_WOOD,
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DS_CHECKERED,
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DS_GROUND,
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DS_SKY
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};
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/* draw modes */
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#define DS_POLYFILL 0
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#define DS_WIREFRAME 1
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/**
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* @struct dsFunctions
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* @brief Set of functions to be used as callbacks by the simulation loop.
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* @ingroup drawstuff
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*/
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typedef struct dsFunctions {
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int version; /* put DS_VERSION here */
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/* version 1 data */
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void (*start)(); /* called before sim loop starts */
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void (*step) (int pause); /* called before every frame */
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void (*command) (int cmd); /* called if a command key is pressed */
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void (*stop)(); /* called after sim loop exits */
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/* version 2 data */
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const char *path_to_textures; /* if nonzero, path to texture files */
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} dsFunctions;
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/**
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* @brief Does the complete simulation.
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* @ingroup drawstuff
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* This function starts running the simulation, and only exits when the simulation is done.
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* Function pointers should be provided for the callbacks.
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* @param argv supports flags like '-notex' '-noshadow' '-pause'
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* @param fn Callback functions.
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*/
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DS_API void dsSimulationLoop (int argc, char **argv,
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int window_width, int window_height,
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struct dsFunctions *fn);
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/**
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* @brief exit with error message.
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* @ingroup drawstuff
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* This function displays an error message then exit.
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* @param msg format strin, like printf, without the newline character.
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*/
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DS_API void dsError (const char *msg, ...);
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/**
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* @brief exit with error message and core dump.
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* @ingroup drawstuff
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* this functions tries to dump core or start the debugger.
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* @param msg format strin, like printf, without the newline character.
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*/
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DS_API void dsDebug (const char *msg, ...);
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/**
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* @brief print log message
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* @ingroup drawstuff
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* @param msg format string, like printf, without the \n.
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*/
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DS_API void dsPrint (const char *msg, ...);
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/**
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* @brief Sets the viewpoint
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* @ingroup drawstuff
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* @param xyz camera position.
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* @param hpr contains heading, pitch and roll numbers in degrees. heading=0
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* points along the x axis, pitch=0 is looking towards the horizon, and
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* roll 0 is "unrotated".
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*/
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DS_API void dsSetViewpoint (float xyz[3], float hpr[3]);
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/**
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* @brief Gets the viewpoint
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* @ingroup drawstuff
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* @param xyz position
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* @param hpr heading,pitch,roll.
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*/
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DS_API void dsGetViewpoint (float xyz[3], float hpr[3]);
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/**
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* @brief Stop the simulation loop.
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* @ingroup drawstuff
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* Calling this from within dsSimulationLoop()
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* will cause it to exit and return to the caller. it is the same as if the
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* user used the exit command. using this outside the loop will have no
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* effect.
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*/
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DS_API void dsStop();
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/**
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* @brief Get the elapsed time (on wall-clock)
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* @ingroup drawstuff
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* It returns the nr of seconds since the last call to this function.
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*/
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DS_API double dsElapsedTime();
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/**
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* @brief Toggle the rendering of textures.
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* @ingroup drawstuff
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* It changes the way objects are drawn. these changes will apply to all further
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* dsDrawXXX() functions.
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* @param the texture number must be a DS_xxx texture constant.
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* The current texture is colored according to the current color.
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* At the start of each frame, the texture is reset to none and the color is
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* reset to white.
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*/
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DS_API void dsSetTexture (int texture_number);
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/**
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* @brief Set the color with which geometry is drawn.
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* @ingroup drawstuff
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* @param red Red component from 0 to 1
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* @param green Green component from 0 to 1
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* @param blue Blue component from 0 to 1
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*/
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DS_API void dsSetColor (float red, float green, float blue);
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/**
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* @brief Set the color and transparency with which geometry is drawn.
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* @ingroup drawstuff
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* @param alpha Note that alpha transparency is a misnomer: it is alpha opacity.
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* 1.0 means fully opaque, and 0.0 means fully transparent.
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*/
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DS_API void dsSetColorAlpha (float red, float green, float blue, float alpha);
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/**
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* @brief Draw a box.
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* @ingroup drawstuff
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* @param pos is the x,y,z of the center of the object.
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* @param R is a 3x3 rotation matrix for the object, stored by row like this:
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* [ R11 R12 R13 0 ]
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* [ R21 R22 R23 0 ]
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* [ R31 R32 R33 0 ]
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* @param sides[] is an array of x,y,z side lengths.
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*/
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DS_API void dsDrawBox (const float pos[3], const float R[12], const float sides[3]);
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/**
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* @brief Draw a sphere.
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* @ingroup drawstuff
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* @param pos Position of center.
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* @param R orientation.
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* @param radius
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*/
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DS_API void dsDrawSphere (const float pos[3], const float R[12], float radius);
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/**
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* @brief Draw a triangle.
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* @ingroup drawstuff
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* @param pos Position of center
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* @param R orientation
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* @param v0 first vertex
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* @param v1 second
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* @param v2 third vertex
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* @param solid set to 0 for wireframe
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*/
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DS_API void dsDrawTriangle (const float pos[3], const float R[12],
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const float *v0, const float *v1, const float *v2, int solid);
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/**
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* @brief Draw triangles.
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* @ingroup drawstuff
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* @param pos Position of center
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* @param R orientation
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* @param v list of vertices (x0, y0, z0, x1, y1, z1, ...)
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* @param n number of vertices
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* @param solid set to 0 for wireframe
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*/
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DS_API void dsDrawTriangles (const float pos[3], const float R[12],
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const float *v, const int n, int solid);
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/**
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* @brief Draw a z-aligned cylinder
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* @ingroup drawstuff
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*/
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DS_API void dsDrawCylinder (const float pos[3], const float R[12],
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float length, float radius);
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/**
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* @brief Draw a z-aligned capsule
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* @ingroup drawstuff
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*/
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DS_API void dsDrawCapsule (const float pos[3], const float R[12],
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float length, float radius);
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/**
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* @brief Draw a line.
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* @ingroup drawstuff
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*/
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DS_API void dsDrawLine (const float pos1[3], const float pos2[3]);
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/**
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* @brief Draw a convex shape.
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* @ingroup drawstuff
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*/
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DS_API void dsDrawConvex(const float pos[3], const float R[12],
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const float *_planes,
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unsigned int _planecount,
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const float *_points,
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unsigned int _pointcount,
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const unsigned int *_polygons);
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/* these drawing functions are identical to the ones above, except they take
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* double arrays for `pos' and `R'.
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*/
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DS_API void dsDrawBoxD (const double pos[3], const double R[12],
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const double sides[3]);
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DS_API void dsDrawSphereD (const double pos[3], const double R[12],
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const float radius);
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DS_API void dsDrawTriangleD (const double pos[3], const double R[12],
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const double *v0, const double *v1, const double *v2, int solid);
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DS_API void dsDrawTrianglesD (const double pos[3], const double R[12],
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const double *v, const int n, int solid);
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DS_API void dsDrawCylinderD (const double pos[3], const double R[12],
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float length, float radius);
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DS_API void dsDrawCapsuleD (const double pos[3], const double R[12],
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float length, float radius);
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DS_API void dsDrawLineD (const double pos1[3], const double pos2[3]);
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DS_API void dsDrawConvexD(const double pos[3], const double R[12],
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const double *_planes,
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unsigned int _planecount,
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const double *_points,
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unsigned int _pointcount,
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const unsigned int *_polygons);
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/**
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* @brief Set the quality with which curved objects are rendered.
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* @ingroup drawstuff
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* Higher numbers are higher quality, but slower to draw.
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* This must be set before the first objects are drawn to be effective.
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* Default sphere quality is 1, default capsule quality is 3.
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*/
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DS_API void dsSetSphereQuality (int n); /* default = 1 */
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DS_API void dsSetCapsuleQuality (int n); /* default = 3 */
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/**
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* @brief Set Drawmode 0=Polygon Fill,1=Wireframe).
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* Use the DS_POLYFILL and DS_WIREFRAME macros.
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* @ingroup drawstuff
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*/
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DS_API void dsSetDrawMode(int mode);
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/* Backwards compatible API */
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#define dsDrawCappedCylinder dsDrawCapsule
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#define dsDrawCappedCylinderD dsDrawCapsuleD
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#define dsSetCappedCylinderQuality dsSetCapsuleQuality
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/* closing bracket for extern "C" */
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#ifdef __cplusplus
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}
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#endif
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#endif
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