Open Dynamics Engine: drawstuff.h Source File

00001 /*************************************************************************
-00002  *                                                                       *
-00003  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
-00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
-00005  *                                                                       *
-00006  * This library is free software; you can redistribute it and/or         *
-00007  * modify it under the terms of EITHER:                                  *
-00008  *   (1) The GNU Lesser General Public License as published by the Free  *
-00009  *       Software Foundation; either version 2.1 of the License, or (at  *
-00010  *       your option) any later version. The text of the GNU Lesser      *
-00011  *       General Public License is included with this library in the     *
-00012  *       file LICENSE.TXT.                                               *
-00013  *   (2) The BSD-style license that is included with this library in     *
-00014  *       the file LICENSE-BSD.TXT.                                       *
-00015  *                                                                       *
-00016  * This library is distributed in the hope that it will be useful,       *
-00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
-00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
-00020  *                                                                       *
-00021  *************************************************************************/
-00022 
-00041 #ifndef __DRAWSTUFF_H__
-00042 #define __DRAWSTUFF_H__
-00043 
-00044 /* Define a DLL export symbol for those platforms that need it */
-00045 #if defined(ODE_PLATFORM_WINDOWS)
-00046   #if defined(DS_DLL)
-00047     #define DS_API __declspec(dllexport)
-00048   #elif !defined(DS_LIB)
-00049     #define DS_DLL_API __declspec(dllimport)
-00050   #endif
-00051 #endif
-00052     
-00053 #if !defined(DS_API)
-00054   #define DS_API
-00055 #endif
-00056 
-00057 #ifdef __cplusplus
-00058 extern "C" {
-00059 #endif
-00060 
-00061 
-00062 #include <drawstuff/version.h>
-00063 
-00064 
-00065 /* texture numbers */
-00066 #define DS_NONE   0  /* uses the current color instead of a texture */
-00067 #define DS_WOOD   1
-00068 
-00069 
-00075 typedef struct dsFunctions {
-00076   int version;       /* put DS_VERSION here */
-00077   /* version 1 data */
-00078   void (*start)();      /* called before sim loop starts */
-00079   void (*step) (int pause);   /* called before every frame */
-00080   void (*command) (int cmd);  /* called if a command key is pressed */
-00081   void (*stop)();    /* called after sim loop exits */
-00082   /* version 2 data */
-00083   char *path_to_textures;  /* if nonzero, path to texture files */
-00084 } dsFunctions;
-00085 
-00086 
-00095 DS_API void dsSimulationLoop (int argc, char **argv,
-00096              int window_width, int window_height,
-00097              struct dsFunctions *fn);
-00098 
-00105 DS_API void dsError (char *msg, ...);
-00106 
-00113 DS_API void dsDebug (char *msg, ...);
-00114 
-00120 DS_API void dsPrint (char *msg, ...);
-00121 
-00130 DS_API void dsSetViewpoint (float xyz[3], float hpr[3]);
-00131 
-00132 
-00139 DS_API void dsGetViewpoint (float xyz[3], float hpr[3]);
-00140 
-00149 DS_API void dsStop();
-00150 
-00156 DS_API double dsElapsedTime();
-00157 
-00168 DS_API void dsSetTexture (int texture_number);
-00169 
-00177 DS_API void dsSetColor (float red, float green, float blue);
-00178 
-00185 DS_API void dsSetColorAlpha (float red, float green, float blue, float alpha);
-00186 
-00197 DS_API void dsDrawBox (const float pos[3], const float R[12], const float sides[3]);
-00198 
-00206 DS_API void dsDrawSphere (const float pos[3], const float R[12], float radius);
-00207 
-00218 DS_API void dsDrawTriangle (const float pos[3], const float R[12],
-00219            const float *v0, const float *v1, const float *v2, int solid);
-00220 
-00225 DS_API void dsDrawCylinder (const float pos[3], const float R[12],
-00226            float length, float radius);
-00227 
-00232 DS_API void dsDrawCapsule (const float pos[3], const float R[12],
-00233           float length, float radius);
-00234 
-00239 DS_API void dsDrawLine (const float pos1[3], const float pos2[3]);
-00240 
-00245 DS_API void dsDrawConvex(const float pos[3], const float R[12],
-00246         float *_planes,
-00247         unsigned int _planecount,
-00248         float *_points,
-00249         unsigned int _pointcount,
-00250         unsigned int *_polygons);
-00251 
-00252  /* these drawing functions are identical to the ones above, except they take
-00253  * double arrays for `pos' and `R'.
-00254  */
-00255 DS_API void dsDrawBoxD (const double pos[3], const double R[12],
-00256        const double sides[3]);
-00257 DS_API void dsDrawSphereD (const double pos[3], const double R[12],
-00258           const float radius);
-00259 DS_API void dsDrawTriangleD (const double pos[3], const double R[12],
-00260             const double *v0, const double *v1, const double *v2, int solid);
-00261 DS_API void dsDrawCylinderD (const double pos[3], const double R[12],
-00262             float length, float radius);
-00263 DS_API void dsDrawCapsuleD (const double pos[3], const double R[12],
-00264            float length, float radius);
-00265 DS_API void dsDrawLineD (const double pos1[3], const double pos2[3]);
-00266 DS_API void dsDrawConvexD(const double pos[3], const double R[12],
-00267         double *_planes,
-00268         unsigned int _planecount,
-00269         double *_points,
-00270         unsigned int _pointcount,
-00271         unsigned int *_polygons);
-00272 
-00280 DS_API void dsSetSphereQuality (int n);      /* default = 1 */
-00281 DS_API void dsSetCapsuleQuality (int n);     /* default = 3 */
-00282 
-00283 // Backwards compatible API
-00284 #define dsDrawCappedCylinder dsDrawCapsule
-00285 #define dsDrawCappedCylinderD dsDrawCapsuleD
-00286 #define dsSetCappedCylinderQuality dsSetCapsuleQuality
-00287 
-00288 /* closing bracket for extern "C" */
-00289 #ifdef __cplusplus
-00290 }
-00291 #endif
-00292 
-00293 #endif
-00294 
-