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 
+