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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 */
enum DS_TEXTURE_NUMBER
{
DS_NONE = 0, /* uses the current color instead of a texture */
DS_WOOD,
DS_CHECKERED,
DS_GROUND,
DS_SKY
};
/* draw modes */
#define DS_POLYFILL 0
#define DS_WIREFRAME 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 */
const 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 (const 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 (const char *msg, ...);
/**
* @brief print log message
* @ingroup drawstuff
* @param msg format string, like printf, without the \n.
*/
DS_API void dsPrint (const 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 triangles.
* @ingroup drawstuff
* @param pos Position of center
* @param R orientation
* @param v list of vertices (x0, y0, z0, x1, y1, z1, ...)
* @param n number of vertices
* @param solid set to 0 for wireframe
*/
DS_API void dsDrawTriangles (const float pos[3], const float R[12],
const float *v, const int n, 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],
const float *_planes,
unsigned int _planecount,
const float *_points,
unsigned int _pointcount,
const 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 dsDrawTrianglesD (const double pos[3], const double R[12],
const double *v, const int n, 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],
const double *_planes,
unsigned int _planecount,
const double *_points,
unsigned int _pointcount,
const 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 */
/**
* @brief Set Drawmode 0=Polygon Fill,1=Wireframe).
* Use the DS_POLYFILL and DS_WIREFRAME macros.
* @ingroup drawstuff
*/
DS_API void dsSetDrawMode(int mode);
/* Backwards compatible API */
#define dsDrawCappedCylinder dsDrawCapsule
#define dsDrawCappedCylinderD dsDrawCapsuleD
#define dsSetCappedCylinderQuality dsSetCapsuleQuality
/* closing bracket for extern "C" */
#ifdef __cplusplus
}
#endif
#endif
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