C-API progress

[karl]

Hi there,

I was wondering how much progress (if any) has been made on the C-API? I'm very interested in evaluating Bullet regardless, however the C-API would certainly make integration a lot simpler/faster.

Regards,
Karl

[Erwin Coumans]

There is some starting point. See Bullet/include/Bullet-C-Api.h

Code: Select all

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

/*
	Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
	Work in progress, functionality will be added on demand.

	If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
*/

#ifndef BULLET_C_API_H
#define BULLET_C_API_H

#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name

typedef float	plReal;
typedef plReal	plVector3[3];
typedef plReal	plQuaternion[4];

#ifdef __cplusplus
extern "C" { 
#endif

/*	Particular physics SDK */
	PL_DECLARE_HANDLE(plPhysicsSdkHandle);
/* 	Dynamics world, belonging to some physics SDK */
	PL_DECLARE_HANDLE(plDynamicsWorldHandle);
/* Rigid Body that can be part of a Dynamics World */	
	PL_DECLARE_HANDLE(plRigidBodyHandle);
/* 	Collision Shape/Geometry, property of a Rigid Body */
	PL_DECLARE_HANDLE(plCollisionShapeHandle);
/* Constraint for Rigid Bodies */
	PL_DECLARE_HANDLE(plConstraintHandle);


/*
	Create and Delete a Physics SDK	
*/

	extern	plPhysicsSdkHandle	plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc.
	extern	void		plDeletePhysicsSdk(plPhysicsSdkHandle	physicsSdk);

/* Dynamics World */

	extern  plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);

	extern  void           plDeleteDynamicsWorld(plDynamicsWorldHandle world);

	extern	void	plStepSimulation(plDynamicsWorldHandle,	plReal	timeStep);

	extern  void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);

	extern  void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);


/* Rigid Body  */

	extern  plRigidBodyHandle plCreateRigidBody(	void* user_data,  float mass, plCollisionShapeHandle cshape );

	extern  void plDeleteRigidBody(plRigidBodyHandle body);


/* Collision Shape definition */

	extern  plCollisionShapeHandle plNewSphereShape(plReal radius);
	extern  plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z);
	extern  plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);	
	extern  plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
	extern  plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
	extern  void plDeleteShape(plCollisionShapeHandle shape);

	extern  void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);

/* SOLID has Response Callback/Table/Management */
/* PhysX has Triggers, User Callbacks and filtering */
/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */

	

	typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle	rbHandle, plVector3 pos);
	typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle	rbHandle, plQuaternion orientation);

	extern  void plSetPosition(plRigidBodyHandle object, const plVector3 position);
	extern  void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);

	typedef struct plRayCastResult {
		plRigidBodyHandle		m_body;  
		plCollisionShapeHandle	m_shape; 		
		plVector3				m_positionWorld; 		
		plVector3				m_normalWorld;
	} plRayCastResult;

	extern  int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);

	/* Sweep API */

	/* extern  plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */

	/* Continuous Collision Detection API */

#ifdef __cplusplus
}
#endif

#endif //BULLET_C_API_H