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