drawstuff.h

/*************************************************************************
 *                                                                       *
 * 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.                     *
 *                                                                       *
 *************************************************************************/

#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


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;


DS_API void dsSimulationLoop (int argc, char **argv,
             int window_width, int window_height,
             struct dsFunctions *fn);

DS_API void dsError (char *msg, ...);

DS_API void dsDebug (char *msg, ...);

DS_API void dsPrint (char *msg, ...);

DS_API void dsSetViewpoint (float xyz[3], float hpr[3]);


DS_API void dsGetViewpoint (float xyz[3], float hpr[3]);

DS_API void dsStop();

DS_API double dsElapsedTime();

DS_API void dsSetTexture (int texture_number);

DS_API void dsSetColor (float red, float green, float blue);

DS_API void dsSetColorAlpha (float red, float green, float blue, float alpha);

DS_API void dsDrawBox (const float pos[3], const float R[12], const float sides[3]);

DS_API void dsDrawSphere (const float pos[3], const float R[12], float radius);

DS_API void dsDrawTriangle (const float pos[3], const float R[12],
           const float *v0, const float *v1, const float *v2, int solid);

DS_API void dsDrawCylinder (const float pos[3], const float R[12],
           float length, float radius);

DS_API void dsDrawCapsule (const float pos[3], const float R[12],
          float length, float radius);

DS_API void dsDrawLine (const float pos1[3], const float pos2[3]);

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);

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

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