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3<title>Open Dynamics Engine: drawstuff.h Source File</title>
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16<h1>drawstuff.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span>
17<a name="l00002"></a>00002 <span class="comment"> *                                                                       *</span>
18<a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *</span>
19<a name="l00004"></a>00004 <span class="comment"> * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *</span>
20<a name="l00005"></a>00005 <span class="comment"> *                                                                       *</span>
21<a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or         *</span>
22<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER:                                  *</span>
23<a name="l00008"></a>00008 <span class="comment"> *   (1) The GNU Lesser General Public License as published by the Free  *</span>
24<a name="l00009"></a>00009 <span class="comment"> *       Software Foundation; either version 2.1 of the License, or (at  *</span>
25<a name="l00010"></a>00010 <span class="comment"> *       your option) any later version. The text of the GNU Lesser      *</span>
26<a name="l00011"></a>00011 <span class="comment"> *       General Public License is included with this library in the     *</span>
27<a name="l00012"></a>00012 <span class="comment"> *       file LICENSE.TXT.                                               *</span>
28<a name="l00013"></a>00013 <span class="comment"> *   (2) The BSD-style license that is included with this library in     *</span>
29<a name="l00014"></a>00014 <span class="comment"> *       the file LICENSE-BSD.TXT.                                       *</span>
30<a name="l00015"></a>00015 <span class="comment"> *                                                                       *</span>
31<a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful,       *</span>
32<a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of        *</span>
33<a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *</span>
34<a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *</span>
35<a name="l00020"></a>00020 <span class="comment"> *                                                                       *</span>
36<a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span>
37<a name="l00022"></a>00022
38<a name="l00041"></a>00041 <span class="preprocessor">#ifndef __DRAWSTUFF_H__</span>
39<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#define __DRAWSTUFF_H__</span>
40<a name="l00043"></a>00043 <span class="preprocessor"></span>
41<a name="l00044"></a>00044 <span class="comment">/* Define a DLL export symbol for those platforms that need it */</span>
42<a name="l00045"></a>00045 <span class="preprocessor">#if defined(ODE_PLATFORM_WINDOWS)</span>
43<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">  #if defined(DS_DLL)</span>
44<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">    #define DS_API __declspec(dllexport)</span>
45<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">  #elif !defined(DS_LIB)</span>
46<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">    #define DS_DLL_API __declspec(dllimport)</span>
47<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">  #endif</span>
48<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
49<a name="l00052"></a>00052 <span class="preprocessor"></span>   
50<a name="l00053"></a>00053 <span class="preprocessor">#if !defined(DS_API)</span>
51<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">  #define DS_API</span>
52<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
53<a name="l00056"></a>00056 <span class="preprocessor"></span>
54<a name="l00057"></a>00057 <span class="preprocessor">#ifdef __cplusplus</span>
55<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
56<a name="l00059"></a>00059 <span class="preprocessor">#endif</span>
57<a name="l00060"></a>00060 <span class="preprocessor"></span>
58<a name="l00061"></a>00061
59<a name="l00062"></a>00062 <span class="preprocessor">#include &lt;drawstuff/version.h&gt;</span>
60<a name="l00063"></a>00063
61<a name="l00064"></a>00064
62<a name="l00065"></a>00065 <span class="comment">/* texture numbers */</span>
63<a name="l00066"></a>00066 <span class="preprocessor">#define DS_NONE   0  </span><span class="comment">/* uses the current color instead of a texture */</span>
64<a name="l00067"></a>00067 <span class="preprocessor">#define DS_WOOD   1</span>
65<a name="l00068"></a>00068 <span class="preprocessor"></span>
66<a name="l00069"></a>00069
67<a name="l00075"></a><a class="code" href="structds_functions.html">00075</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structds_functions.html" title="Set of functions to be used as callbacks by the simulation loop.">dsFunctions</a> {
68<a name="l00076"></a>00076   <span class="keywordtype">int</span> version;       <span class="comment">/* put DS_VERSION here */</span>
69<a name="l00077"></a>00077   <span class="comment">/* version 1 data */</span>
70<a name="l00078"></a>00078   void (*start)();      <span class="comment">/* called before sim loop starts */</span>
71<a name="l00079"></a>00079   void (*step) (<span class="keywordtype">int</span> pause);   <span class="comment">/* called before every frame */</span>
72<a name="l00080"></a>00080   void (*command) (<span class="keywordtype">int</span> cmd);  <span class="comment">/* called if a command key is pressed */</span>
73<a name="l00081"></a>00081   void (*stop)();    <span class="comment">/* called after sim loop exits */</span>
74<a name="l00082"></a>00082   <span class="comment">/* version 2 data */</span>
75<a name="l00083"></a>00083   <span class="keywordtype">char</span> *path_to_textures;  <span class="comment">/* if nonzero, path to texture files */</span>
76<a name="l00084"></a>00084 } <a class="code" href="structds_functions.html" title="Set of functions to be used as callbacks by the simulation loop.">dsFunctions</a>;
77<a name="l00085"></a>00085
78<a name="l00086"></a>00086
79<a name="l00095"></a>00095 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g28560ea1b64c1d83095bcdfce9caf9dc" title="Does the complete simulation.">dsSimulationLoop</a> (<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv,
80<a name="l00096"></a>00096              <span class="keywordtype">int</span> window_width, <span class="keywordtype">int</span> window_height,
81<a name="l00097"></a>00097              <span class="keyword">struct</span> <a class="code" href="structds_functions.html" title="Set of functions to be used as callbacks by the simulation loop.">dsFunctions</a> *fn);
82<a name="l00098"></a>00098
83<a name="l00105"></a>00105 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g7a2a69ac611d5dc6ffc8e43b0a743472" title="exit with error message.">dsError</a> (<span class="keywordtype">char</span> *msg, ...);
84<a name="l00106"></a>00106
85<a name="l00113"></a>00113 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#ga84175b14c3c31daae08a9c88acc2b02" title="exit with error message and core dump.">dsDebug</a> (<span class="keywordtype">char</span> *msg, ...);
86<a name="l00114"></a>00114
87<a name="l00120"></a>00120 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#gbca5fa4076aa9e45caa049f33e8cf168" title="print log message">dsPrint</a> (<span class="keywordtype">char</span> *msg, ...);
88<a name="l00121"></a>00121
89<a name="l00130"></a>00130 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g8e4ea933c31d207ec57949fbb3a75815" title="Sets the viewpoint.">dsSetViewpoint</a> (<span class="keywordtype">float</span> xyz[3], <span class="keywordtype">float</span> hpr[3]);
90<a name="l00131"></a>00131
91<a name="l00132"></a>00132
92<a name="l00139"></a>00139 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#gaa22f45ad00e0010a1440985ac51b18b" title="Gets the viewpoint.">dsGetViewpoint</a> (<span class="keywordtype">float</span> xyz[3], <span class="keywordtype">float</span> hpr[3]);
93<a name="l00140"></a>00140
94<a name="l00149"></a>00149 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g6c13a5a310b9e00c45150058e669ebad" title="Stop the simulation loop.">dsStop</a>();
95<a name="l00150"></a>00150
96<a name="l00156"></a>00156 DS_API <span class="keywordtype">double</span> <a class="code" href="group__drawstuff.html#g02f3f096703d49f5a9e497aec0b85f75" title="Get the elapsed time (on wall-clock).">dsElapsedTime</a>();
97<a name="l00157"></a>00157
98<a name="l00168"></a>00168 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g8a3d6f8fecc8c7d5a206bed35f17ba7a" title="Toggle the rendering of textures.">dsSetTexture</a> (<span class="keywordtype">int</span> texture_number);
99<a name="l00169"></a>00169
100<a name="l00177"></a>00177 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g3221a0d1360621eaad7c54597671c092" title="Set the color with which geometry is drawn.">dsSetColor</a> (<span class="keywordtype">float</span> red, <span class="keywordtype">float</span> green, <span class="keywordtype">float</span> blue);
101<a name="l00178"></a>00178
102<a name="l00185"></a>00185 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g440940cfaef61775e37c33b055b832af" title="Set the color and transparency with which geometry is drawn.">dsSetColorAlpha</a> (<span class="keywordtype">float</span> red, <span class="keywordtype">float</span> green, <span class="keywordtype">float</span> blue, <span class="keywordtype">float</span> alpha);
103<a name="l00186"></a>00186
104<a name="l00197"></a>00197 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#gfba4fde6b0b74f6cd422036dedd08836" title="Draw a box.">dsDrawBox</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">float</span> R[12], <span class="keyword">const</span> <span class="keywordtype">float</span> sides[3]);
105<a name="l00198"></a>00198
106<a name="l00206"></a>00206 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g0802e7641f8028182b69fabc729a6704" title="Draw a sphere.">dsDrawSphere</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">float</span> R[12], <span class="keywordtype">float</span> radius);
107<a name="l00207"></a>00207
108<a name="l00218"></a>00218 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#gcfcbae15cee67eceb45cd96bf01484d4" title="Draw a triangle.">dsDrawTriangle</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">float</span> R[12],
109<a name="l00219"></a>00219            <span class="keyword">const</span> <span class="keywordtype">float</span> *v0, <span class="keyword">const</span> <span class="keywordtype">float</span> *v1, <span class="keyword">const</span> <span class="keywordtype">float</span> *v2, <span class="keywordtype">int</span> solid);
110<a name="l00220"></a>00220
111<a name="l00225"></a>00225 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g0b09b41f1f6500b293678aa1691f1537" title="Draw a z-aligned cylinder.">dsDrawCylinder</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">float</span> R[12],
112<a name="l00226"></a>00226            <span class="keywordtype">float</span> length, <span class="keywordtype">float</span> radius);
113<a name="l00227"></a>00227
114<a name="l00232"></a>00232 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#gce8f6c8a9f2871dac2f5e7f159b96feb" title="Draw a z-aligned capsule.">dsDrawCapsule</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">float</span> R[12],
115<a name="l00233"></a>00233           <span class="keywordtype">float</span> length, <span class="keywordtype">float</span> radius);
116<a name="l00234"></a>00234
117<a name="l00239"></a>00239 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g61b166a9b7c04063a27be982051f4af5" title="Draw a line.">dsDrawLine</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> pos1[3], <span class="keyword">const</span> <span class="keywordtype">float</span> pos2[3]);
118<a name="l00240"></a>00240
119<a name="l00245"></a>00245 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g4b8754994a4cca9d51fce16445f0d612" title="Draw a convex shape.">dsDrawConvex</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">float</span> R[12],
120<a name="l00246"></a>00246         <span class="keywordtype">float</span> *_planes,
121<a name="l00247"></a>00247         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _planecount,
122<a name="l00248"></a>00248         <span class="keywordtype">float</span> *_points,
123<a name="l00249"></a>00249         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _pointcount,
124<a name="l00250"></a>00250         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> *_polygons);
125<a name="l00251"></a>00251
126<a name="l00252"></a>00252  <span class="comment">/* these drawing functions are identical to the ones above, except they take</span>
127<a name="l00253"></a>00253 <span class="comment"> * double arrays for `pos' and `R'.</span>
128<a name="l00254"></a>00254 <span class="comment"> */</span>
129<a name="l00255"></a>00255 DS_API <span class="keywordtype">void</span> dsDrawBoxD (<span class="keyword">const</span> <span class="keywordtype">double</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">double</span> R[12],
130<a name="l00256"></a>00256        <span class="keyword">const</span> <span class="keywordtype">double</span> sides[3]);
131<a name="l00257"></a>00257 DS_API <span class="keywordtype">void</span> dsDrawSphereD (<span class="keyword">const</span> <span class="keywordtype">double</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">double</span> R[12],
132<a name="l00258"></a>00258           <span class="keyword">const</span> <span class="keywordtype">float</span> radius);
133<a name="l00259"></a>00259 DS_API <span class="keywordtype">void</span> dsDrawTriangleD (<span class="keyword">const</span> <span class="keywordtype">double</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">double</span> R[12],
134<a name="l00260"></a>00260             <span class="keyword">const</span> <span class="keywordtype">double</span> *v0, <span class="keyword">const</span> <span class="keywordtype">double</span> *v1, <span class="keyword">const</span> <span class="keywordtype">double</span> *v2, <span class="keywordtype">int</span> solid);
135<a name="l00261"></a>00261 DS_API <span class="keywordtype">void</span> dsDrawCylinderD (<span class="keyword">const</span> <span class="keywordtype">double</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">double</span> R[12],
136<a name="l00262"></a>00262             <span class="keywordtype">float</span> length, <span class="keywordtype">float</span> radius);
137<a name="l00263"></a>00263 DS_API <span class="keywordtype">void</span> dsDrawCapsuleD (<span class="keyword">const</span> <span class="keywordtype">double</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">double</span> R[12],
138<a name="l00264"></a>00264            <span class="keywordtype">float</span> length, <span class="keywordtype">float</span> radius);
139<a name="l00265"></a>00265 DS_API <span class="keywordtype">void</span> dsDrawLineD (<span class="keyword">const</span> <span class="keywordtype">double</span> pos1[3], <span class="keyword">const</span> <span class="keywordtype">double</span> pos2[3]);
140<a name="l00266"></a>00266 DS_API <span class="keywordtype">void</span> dsDrawConvexD(<span class="keyword">const</span> <span class="keywordtype">double</span> pos[3], <span class="keyword">const</span> <span class="keywordtype">double</span> R[12],
141<a name="l00267"></a>00267         <span class="keywordtype">double</span> *_planes,
142<a name="l00268"></a>00268         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _planecount,
143<a name="l00269"></a>00269         <span class="keywordtype">double</span> *_points,
144<a name="l00270"></a>00270         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _pointcount,
145<a name="l00271"></a>00271         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> *_polygons);
146<a name="l00272"></a>00272
147<a name="l00280"></a>00280 DS_API <span class="keywordtype">void</span> <a class="code" href="group__drawstuff.html#g211aa83d5c5d102cdda303cc7aeb2fd5" title="Set the quality with which curved objects are rendered.">dsSetSphereQuality</a> (<span class="keywordtype">int</span> n);      <span class="comment">/* default = 1 */</span>
148<a name="l00281"></a>00281 DS_API <span class="keywordtype">void</span> dsSetCapsuleQuality (<span class="keywordtype">int</span> n);     <span class="comment">/* default = 3 */</span>
149<a name="l00282"></a>00282
150<a name="l00283"></a>00283 <span class="comment">// Backwards compatible API</span>
151<a name="l00284"></a>00284 <span class="preprocessor">#define dsDrawCappedCylinder dsDrawCapsule</span>
152<a name="l00285"></a>00285 <span class="preprocessor"></span><span class="preprocessor">#define dsDrawCappedCylinderD dsDrawCapsuleD</span>
153<a name="l00286"></a>00286 <span class="preprocessor"></span><span class="preprocessor">#define dsSetCappedCylinderQuality dsSetCapsuleQuality</span>
154<a name="l00287"></a>00287 <span class="preprocessor"></span>
155<a name="l00288"></a>00288 <span class="comment">/* closing bracket for extern "C" */</span>
156<a name="l00289"></a>00289 <span class="preprocessor">#ifdef __cplusplus</span>
157<a name="l00290"></a>00290 <span class="preprocessor"></span>}
158<a name="l00291"></a>00291 <span class="preprocessor">#endif</span>
159<a name="l00292"></a>00292 <span class="preprocessor"></span>
160<a name="l00293"></a>00293 <span class="preprocessor">#endif</span>
161<a name="l00294"></a>00294 <span class="preprocessor"></span>
162</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by&nbsp;
163<a href="http://www.doxygen.org/index.html">
164<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
165</body>
166</html>
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