Bullet-C-Api.h File Reference

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Classes
struct	plRayCastResult
Defines
#define	PL_DECLARE_HANDLE(name)   typedef struct name##__ { int unused; } *name
Typedefs
typedef float	plReal
typedef plReal	plVector3 [3]
typedef plReal	plQuaternion [4]
typedef void(*	btBroadphaseCallback )(void *clientData, void *object1, void *object2)
typedef struct plRayCastResult	plRayCastResult
Functions
	PL_DECLARE_HANDLE (plPhysicsSdkHandle)
	PL_DECLARE_HANDLE (plDynamicsWorldHandle)
	PL_DECLARE_HANDLE (plRigidBodyHandle)
	PL_DECLARE_HANDLE (plCollisionShapeHandle)
	PL_DECLARE_HANDLE (plConstraintHandle)
	PL_DECLARE_HANDLE (plMeshInterfaceHandle)
	PL_DECLARE_HANDLE (plCollisionBroadphaseHandle)
	PL_DECLARE_HANDLE (plBroadphaseProxyHandle)
	PL_DECLARE_HANDLE (plCollisionWorldHandle)
plPhysicsSdkHandle	plNewBulletSdk (void)
void	plDeletePhysicsSdk (plPhysicsSdkHandle physicsSdk)
plCollisionBroadphaseHandle	plCreateSapBroadphase (btBroadphaseCallback beginCallback, btBroadphaseCallback endCallback)
void	plDestroyBroadphase (plCollisionBroadphaseHandle bp)
plBroadphaseProxyHandle	plCreateProxy (plCollisionBroadphaseHandle bp, void *clientData, plReal minX, plReal minY, plReal minZ, plReal maxX, plReal maxY, plReal maxZ)
void	plDestroyProxy (plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle)
void	plSetBoundingBox (plBroadphaseProxyHandle proxyHandle, plReal minX, plReal minY, plReal minZ, plReal maxX, plReal maxY, plReal maxZ)
plCollisionWorldHandle	plCreateCollisionWorld (plPhysicsSdkHandle physicsSdk)
plDynamicsWorldHandle	plCreateDynamicsWorld (plPhysicsSdkHandle physicsSdk)
void	plDeleteDynamicsWorld (plDynamicsWorldHandle world)
void	plStepSimulation (plDynamicsWorldHandle, plReal timeStep)
void	plAddRigidBody (plDynamicsWorldHandle world, plRigidBodyHandle object)
void	plRemoveRigidBody (plDynamicsWorldHandle world, plRigidBodyHandle object)
plRigidBodyHandle	plCreateRigidBody (void *user_data, float mass, plCollisionShapeHandle cshape)
void	plDeleteRigidBody (plRigidBodyHandle body)
plCollisionShapeHandle	plNewSphereShape (plReal radius)
plCollisionShapeHandle	plNewBoxShape (plReal x, plReal y, plReal z)
plCollisionShapeHandle	plNewCapsuleShape (plReal radius, plReal height)
plCollisionShapeHandle	plNewConeShape (plReal radius, plReal height)
plCollisionShapeHandle	plNewCylinderShape (plReal radius, plReal height)
plCollisionShapeHandle	plNewCompoundShape (void)
void	plAddChildShape (plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn)
void	plDeleteShape (plCollisionShapeHandle shape)
plCollisionShapeHandle	plNewConvexHullShape (void)
void	plAddVertex (plCollisionShapeHandle convexHull, plReal x, plReal y, plReal z)
plMeshInterfaceHandle	plNewMeshInterface (void)
void	plAddTriangle (plMeshInterfaceHandle meshHandle, plVector3 v0, plVector3 v1, plVector3 v2)
plCollisionShapeHandle	plNewStaticTriangleMeshShape (plMeshInterfaceHandle)
void	plSetScaling (plCollisionShapeHandle shape, plVector3 scaling)
void	plGetOpenGLMatrix (plRigidBodyHandle object, plReal *matrix)
void	plGetPosition (plRigidBodyHandle object, plVector3 position)
void	plGetOrientation (plRigidBodyHandle object, plQuaternion orientation)
void	plSetPosition (plRigidBodyHandle object, const plVector3 position)
void	plSetOrientation (plRigidBodyHandle object, const plQuaternion orientation)
void	plSetEuler (plReal yaw, plReal pitch, plReal roll, plQuaternion orient)
void	plSetOpenGLMatrix (plRigidBodyHandle object, plReal *matrix)
int	plRayCast (plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res)
double	plNearestPoints (float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3])

---

Define Documentation

#define PL_DECLARE_HANDLE

(

name

)

typedef struct name##__ { int unused; } *name

Definition at line 26 of file Bullet-C-Api.h.

---

Typedef Documentation

typedef void(* btBroadphaseCallback)(void *clientData, void *object1, void *object2)

Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects

Definition at line 73 of file Bullet-C-Api.h.

typedef plReal plQuaternion[4]

Definition at line 35 of file Bullet-C-Api.h.

typedef struct plRayCastResult plRayCastResult

typedef float plReal

Definition at line 31 of file Bullet-C-Api.h.

typedef plReal plVector3[3]

Definition at line 34 of file Bullet-C-Api.h.

---

Function Documentation

PL_DECLARE_HANDLE

(

plPhysicsSdkHandle

)

Particular physics SDK (C-API)

PL_DECLARE_HANDLE

(

plDynamicsWorldHandle

)

Dynamics world, belonging to some physics SDK (C-API)

PL_DECLARE_HANDLE

(

plCollisionShapeHandle

)

Collision Shape/Geometry, property of a Rigid Body (C-API)

PL_DECLARE_HANDLE

(

plBroadphaseProxyHandle

)

PL_DECLARE_HANDLE

(

plCollisionWorldHandle

)

PL_DECLARE_HANDLE

(

plConstraintHandle

)

Constraint for Rigid Bodies (C-API)

PL_DECLARE_HANDLE

(

plRigidBodyHandle

)

Rigid Body that can be part of a Dynamics World (C-API)

PL_DECLARE_HANDLE

(

plMeshInterfaceHandle

)

Triangle Mesh interface (C-API)

PL_DECLARE_HANDLE

(

plCollisionBroadphaseHandle

)

Broadphase Scene/Proxy Handles (C-API)

void plAddChildShape	(	plCollisionShapeHandle	compoundShape,
		plCollisionShapeHandle	childShape,
		plVector3	childPos,
		plQuaternion	childOrn
	)

Definition at line 223 of file Bullet-C-API.cpp.

References btAssert, COMPOUND_SHAPE_PROXYTYPE, btCollisionShape::getShapeType(), btTransform::setIdentity(), btTransform::setOrigin(), and btTransform::setRotation().

void plAddRigidBody	(	plDynamicsWorldHandle	world,
		plRigidBodyHandle	object
	)

Definition at line 117 of file Bullet-C-API.cpp.

References btDynamicsWorld::addRigidBody(), and btAssert.

void plAddTriangle	(	plMeshInterfaceHandle	meshHandle,
		plVector3	v0,
		plVector3	v1,
		plVector3	v2
	)

void plAddVertex	(	plCollisionShapeHandle	convexHull,
		plReal	x,
		plReal	y,
		plReal	z
	)

Definition at line 252 of file Bullet-C-API.cpp.

References btAssert, CONVEX_HULL_SHAPE_PROXYTYPE, and btCollisionShape::getShapeType().

plCollisionWorldHandle plCreateCollisionWorld

(

plPhysicsSdkHandle

physicsSdk

)

plDynamicsWorldHandle plCreateDynamicsWorld

(

plPhysicsSdkHandle

physicsSdk

)

Definition at line 88 of file Bullet-C-API.cpp.

References btAlignedAlloc, btPhysicsSdk::m_worldAabbMax, and btPhysicsSdk::m_worldAabbMin.

plBroadphaseProxyHandle plCreateProxy	(	plCollisionBroadphaseHandle	bp,
		void *	clientData,
		plReal	minX,
		plReal	minY,
		plReal	minZ,
		plReal	maxX,
		plReal	maxY,
		plReal	maxZ
	)

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

Definition at line 139 of file Bullet-C-API.cpp.

References btAlignedAlloc, btAssert, btCollisionShape::calculateLocalInertia(), and btTransform::setIdentity().

plCollisionBroadphaseHandle plCreateSapBroadphase	(	btBroadphaseCallback	beginCallback,
		btBroadphaseCallback	endCallback
	)

void plDeleteDynamicsWorld

(

plDynamicsWorldHandle

world

)

Definition at line 103 of file Bullet-C-API.cpp.

References btAlignedFree.

void plDeletePhysicsSdk

(

plPhysicsSdkHandle

physicsSdk

)

Definition at line 80 of file Bullet-C-API.cpp.

References btAlignedFree.

void plDeleteRigidBody

(

plRigidBodyHandle

body

)

Definition at line 158 of file Bullet-C-API.cpp.

References btAlignedFree, and btAssert.

void plDeleteShape

(

plCollisionShapeHandle

shape

)

Definition at line 262 of file Bullet-C-API.cpp.

References btAlignedFree, and btAssert.

void plDestroyBroadphase

(

plCollisionBroadphaseHandle

bp

)

void plDestroyProxy	(	plCollisionBroadphaseHandle	bp,
		plBroadphaseProxyHandle	proxyHandle
	)

void plGetOpenGLMatrix	(	plRigidBodyHandle	object,
		plReal *	matrix
	)

Definition at line 306 of file Bullet-C-API.cpp.

References btAssert.

void plGetOrientation	(	plRigidBodyHandle	object,
		plQuaternion	orientation
	)

Definition at line 324 of file Bullet-C-API.cpp.

References btAssert, and btQuaternion::getW().

void plGetPosition	(	plRigidBodyHandle	object,
		plVector3	position
	)

Definition at line 314 of file Bullet-C-API.cpp.

References btAssert.

double plNearestPoints	(	float	p1[3],
		float	p2[3],
		float	p3[3],
		float	q1[3],
		float	q2[3],
		float	q3[3],
		float *	pa,
		float *	pb,
		float	normal[3]
	)

Definition at line 341 of file Bullet-C-API.cpp.

References btSimplexSolverInterface, btGjkPairDetector::getClosestPoints(), btGjkPairDetector::m_catchDegeneracies, btPointCollector::m_distance, btPointCollector::m_hasResult, btPointCollector::m_normalOnBInWorld, btPointCollector::m_pointInWorld, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB, NULL, and btTransform::setIdentity().

Referenced by cloth_collision().

plCollisionShapeHandle plNewBoxShape	(	plReal	x,
		plReal	y,
		plReal	z
	)

Definition at line 175 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plPhysicsSdkHandle plNewBulletSdk

(

void

)

Create and Delete a Physics SDK

Definition at line 74 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewCapsuleShape	(	plReal	radius,
		plReal	height
	)

Definition at line 181 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewCompoundShape

(

void

)

Definition at line 217 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewConeShape	(	plReal	radius,
		plReal	height
	)

Definition at line 191 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewConvexHullShape

(

void

)

Definition at line 204 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewCylinderShape	(	plReal	radius,
		plReal	height
	)

Definition at line 197 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plMeshInterfaceHandle plNewMeshInterface

(

void

)

Definition at line 212 of file Bullet-C-API.cpp.

plCollisionShapeHandle plNewSphereShape

(

plReal

radius

)

Definition at line 168 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewStaticTriangleMeshShape

(

plMeshInterfaceHandle

)

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

void plRemoveRigidBody	(	plDynamicsWorldHandle	world,
		plRigidBodyHandle	object
	)

Definition at line 127 of file Bullet-C-API.cpp.

References btAssert, and btDynamicsWorld::removeRigidBody().

void plSetBoundingBox	(	plBroadphaseProxyHandle	proxyHandle,
		plReal	minX,
		plReal	minY,
		plReal	minZ,
		plReal	maxX,
		plReal	maxY,
		plReal	maxZ
	)

void plSetEuler	(	plReal	yaw,
		plReal	pitch,
		plReal	roll,
		plQuaternion	orient
	)

Definition at line 236 of file Bullet-C-API.cpp.

References btQuaternion::getW(), and btQuaternion::setEuler().

void plSetOpenGLMatrix	(	plRigidBodyHandle	object,
		plReal *	matrix
	)

Definition at line 298 of file Bullet-C-API.cpp.

References btAssert, and btTransform::setFromOpenGLMatrix().

void plSetOrientation	(	plRigidBodyHandle	object,
		const plQuaternion	orientation
	)

Definition at line 288 of file Bullet-C-API.cpp.

References btAssert, and btTransform::setRotation().

void plSetPosition	(	plRigidBodyHandle	object,
		const plVector3	position
	)

Definition at line 278 of file Bullet-C-API.cpp.

References btAssert, and btTransform::setOrigin().

void plSetScaling	(	plCollisionShapeHandle	shape,
		plVector3	scaling
	)

Definition at line 268 of file Bullet-C-API.cpp.

References btAssert, and btCollisionShape::setLocalScaling().

void plStepSimulation	(	plDynamicsWorldHandle	,
		plReal	timeStep
	)

Definition at line 110 of file Bullet-C-API.cpp.

References btAssert, and btDynamicsWorld::stepSimulation().