mirror of https://github.com/bjornbytes/lovr.git
272 lines
13 KiB
C
272 lines
13 KiB
C
#include <stdbool.h>
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#include <stdint.h>
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#include <stddef.h>
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#pragma once
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#define MAX_CONTACTS 10
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#define MAX_TAGS 32
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#define NO_TAG ~0u
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typedef struct World World;
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typedef struct Collider Collider;
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typedef struct Shape Shape;
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typedef struct Joint Joint;
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typedef Shape SphereShape;
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typedef Shape BoxShape;
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typedef Shape CapsuleShape;
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typedef Shape CylinderShape;
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typedef Shape MeshShape;
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typedef Shape TerrainShape;
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typedef Shape CompoundShape;
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typedef Joint BallJoint;
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typedef Joint DistanceJoint;
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typedef Joint HingeJoint;
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typedef Joint SliderJoint;
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typedef void (*CollisionResolver)(World* world, void* userdata);
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typedef bool (*RaycastCallback)(Collider* collider, float position[3], float normal[3], uint32_t child, void* userdata);
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typedef bool (*QueryCallback)(Collider* collider, uint32_t child, void* userdata);
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bool lovrPhysicsInit(void);
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void lovrPhysicsDestroy(void);
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// World
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typedef struct {
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float x, y, z;
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float nx, ny, nz;
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float depth;
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} Contact;
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typedef struct {
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uint32_t maxColliders;
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uint32_t maxColliderPairs;
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uint32_t maxContacts;
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bool allowSleep;
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const char* tags[MAX_TAGS];
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uint32_t tagCount;
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} WorldInfo;
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World* lovrWorldCreate(WorldInfo* info);
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void lovrWorldDestroy(void* ref);
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void lovrWorldDestroyData(World* world);
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uint32_t lovrWorldGetColliderCount(World* world);
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uint32_t lovrWorldGetJointCount(World* world);
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Collider* lovrWorldEnumerateColliders(World* world, Collider* collider);
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Joint* lovrWorldEnumerateJoints(World* world, Joint* joint);
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void lovrWorldUpdate(World* world, float dt, CollisionResolver resolver, void* userdata);
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void lovrWorldComputeOverlaps(World* world);
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int lovrWorldGetNextOverlap(World* world, Shape** a, Shape** b);
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int lovrWorldCollide(World* world, Shape* a, Shape* b, float friction, float restitution);
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void lovrWorldGetContacts(World* world, Shape* a, Shape* b, Contact contacts[MAX_CONTACTS], uint32_t* count);
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void lovrWorldRaycast(World* world, float start[3], float end[3], RaycastCallback callback, void* userdata);
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bool lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCallback callback, void* userdata);
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bool lovrWorldQuerySphere(World* world, float position[3], float radius, QueryCallback callback, void* userdata);
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void lovrWorldGetGravity(World* world, float gravity[3]);
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void lovrWorldSetGravity(World* world, float gravity[3]);
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const char* lovrWorldGetTagName(World* world, uint32_t tag);
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void lovrWorldDisableCollisionBetween(World* world, const char* tag1, const char* tag2);
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void lovrWorldEnableCollisionBetween(World* world, const char* tag1, const char* tag2);
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bool lovrWorldIsCollisionEnabledBetween(World* world, const char* tag1, const char* tag);
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// Deprecated
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int lovrWorldGetStepCount(World* world);
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void lovrWorldSetStepCount(World* world, int iterations);
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float lovrWorldGetResponseTime(World* world);
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void lovrWorldSetResponseTime(World* world, float responseTime);
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float lovrWorldGetTightness(World* world);
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void lovrWorldSetTightness(World* world, float tightness);
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void lovrWorldGetLinearDamping(World* world, float* damping, float* threshold);
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void lovrWorldSetLinearDamping(World* world, float damping, float threshold);
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void lovrWorldGetAngularDamping(World* world, float* damping, float* threshold);
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void lovrWorldSetAngularDamping(World* world, float damping, float threshold);
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bool lovrWorldIsSleepingAllowed(World* world);
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void lovrWorldSetSleepingAllowed(World* world, bool allowed);
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// Collider
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Collider* lovrColliderCreate(World* world, Shape* shape, float position[3]);
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void lovrColliderDestroy(void* ref);
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void lovrColliderDestroyData(Collider* collider);
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bool lovrColliderIsDestroyed(Collider* collider);
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bool lovrColliderIsEnabled(Collider* collider);
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void lovrColliderSetEnabled(Collider* collider, bool enable);
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void lovrColliderInitInertia(Collider* collider, Shape* shape);
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World* lovrColliderGetWorld(Collider* collider);
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Shape* lovrColliderGetShape(Collider* collider, uint32_t child);
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void lovrColliderSetShape(Collider* collider, Shape* shape);
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void lovrColliderGetShapeOffset(Collider* collider, float position[3], float orientation[4]);
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void lovrColliderSetShapeOffset(Collider* collider, float position[3], float orientation[4]);
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Joint* lovrColliderEnumerateJoints(Collider* collider, Joint* joint, void** private);
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const char* lovrColliderGetTag(Collider* collider);
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bool lovrColliderSetTag(Collider* collider, const char* tag);
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float lovrColliderGetFriction(Collider* collider);
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void lovrColliderSetFriction(Collider* collider, float friction);
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float lovrColliderGetRestitution(Collider* collider);
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void lovrColliderSetRestitution(Collider* collider, float restitution);
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bool lovrColliderIsKinematic(Collider* collider);
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void lovrColliderSetKinematic(Collider* collider, bool kinematic);
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bool lovrColliderIsSensor(Collider* collider);
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void lovrColliderSetSensor(Collider* collider, bool sensor);
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bool lovrColliderIsContinuous(Collider* collider);
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void lovrColliderSetContinuous(Collider* collider, bool continuous);
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float lovrColliderGetGravityScale(Collider* collider);
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void lovrColliderSetGravityScale(Collider* collider, float scale);
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bool lovrColliderIsSleepingAllowed(Collider* collider);
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void lovrColliderSetSleepingAllowed(Collider* collider, bool allowed);
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bool lovrColliderIsAwake(Collider* collider);
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void lovrColliderSetAwake(Collider* collider, bool awake);
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float lovrColliderGetMass(Collider* collider);
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void lovrColliderSetMass(Collider* collider, float mass);
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void lovrColliderGetMassData(Collider* collider, float centerOfMass[3], float* mass, float inertia[6]);
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void lovrColliderSetMassData(Collider* collider, float centerOfMass[3], float mass, float inertia[6]);
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void lovrColliderGetPosition(Collider* collider, float position[3]);
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void lovrColliderSetPosition(Collider* collider, float position[3]);
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void lovrColliderGetOrientation(Collider* collider, float orientation[4]);
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void lovrColliderSetOrientation(Collider* collider, float orientation[4]);
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void lovrColliderGetLinearVelocity(Collider* collider, float velocity[3]);
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void lovrColliderSetLinearVelocity(Collider* collider, float velocity[3]);
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void lovrColliderGetAngularVelocity(Collider* collider, float velocity[3]);
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void lovrColliderSetAngularVelocity(Collider* collider, float velocity[3]);
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void lovrColliderGetLinearDamping(Collider* collider, float* damping, float* threshold);
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void lovrColliderSetLinearDamping(Collider* collider, float damping, float threshold);
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void lovrColliderGetAngularDamping(Collider* collider, float* damping, float* threshold);
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void lovrColliderSetAngularDamping(Collider* collider, float damping, float threshold);
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void lovrColliderApplyForce(Collider* collider, float force[3]);
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void lovrColliderApplyForceAtPosition(Collider* collider, float force[3], float position[3]);
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void lovrColliderApplyTorque(Collider* collider, float torque[3]);
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void lovrColliderApplyLinearImpulse(Collider* collider, float impulse[3]);
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void lovrColliderApplyLinearImpulseAtPosition(Collider* collider, float impulse[3], float position[3]);
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void lovrColliderApplyAngularImpulse(Collider* collider, float impulse[3]);
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void lovrColliderGetLocalCenter(Collider* collider, float center[3]);
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void lovrColliderGetLocalPoint(Collider* collider, float world[3], float local[3]);
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void lovrColliderGetWorldPoint(Collider* collider, float local[3], float world[3]);
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void lovrColliderGetLocalVector(Collider* collider, float world[3], float local[3]);
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void lovrColliderGetWorldVector(Collider* collider, float local[3], float world[3]);
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void lovrColliderGetLinearVelocityFromLocalPoint(Collider* collider, float point[3], float velocity[3]);
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void lovrColliderGetLinearVelocityFromWorldPoint(Collider* collider, float point[3], float velocity[3]);
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void lovrColliderGetAABB(Collider* collider, float aabb[6]);
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// Shapes
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typedef enum {
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SHAPE_SPHERE,
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SHAPE_BOX,
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SHAPE_CAPSULE,
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SHAPE_CYLINDER,
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SHAPE_MESH,
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SHAPE_TERRAIN,
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SHAPE_COMPOUND
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} ShapeType;
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void lovrShapeDestroy(void* ref);
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void lovrShapeDestroyData(Shape* shape);
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ShapeType lovrShapeGetType(Shape* shape);
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void lovrShapeGetMass(Shape* shape, float density, float centerOfMass[3], float* mass, float inertia[6]);
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void lovrShapeGetAABB(Shape* shape, float position[3], float orientation[4], float aabb[6]);
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SphereShape* lovrSphereShapeCreate(float radius);
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float lovrSphereShapeGetRadius(SphereShape* sphere);
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BoxShape* lovrBoxShapeCreate(float dimensions[3]);
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void lovrBoxShapeGetDimensions(BoxShape* box, float dimensions[3]);
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CapsuleShape* lovrCapsuleShapeCreate(float radius, float length);
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float lovrCapsuleShapeGetRadius(CapsuleShape* capsule);
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float lovrCapsuleShapeGetLength(CapsuleShape* capsule);
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CylinderShape* lovrCylinderShapeCreate(float radius, float length);
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float lovrCylinderShapeGetRadius(CylinderShape* cylinder);
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float lovrCylinderShapeGetLength(CylinderShape* cylinder);
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MeshShape* lovrMeshShapeCreate(int vertexCount, float vertices[], int indexCount, uint32_t indices[]);
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TerrainShape* lovrTerrainShapeCreate(float* vertices, uint32_t n, float scaleXZ, float scaleY);
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CompoundShape* lovrCompoundShapeCreate(Shape** shapes, float* positions, float* orientations, uint32_t count, bool freeze);
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bool lovrCompoundShapeIsFrozen(CompoundShape* shape);
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void lovrCompoundShapeAddChild(CompoundShape* shape, Shape* child, float position[3], float orientation[4]);
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void lovrCompoundShapeReplaceChild(CompoundShape* shape, uint32_t index, Shape* child, float position[3], float orientation[4]);
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void lovrCompoundShapeRemoveChild(CompoundShape* shape, uint32_t index);
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Shape* lovrCompoundShapeGetChild(CompoundShape* shape, uint32_t index);
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uint32_t lovrCompoundShapeGetChildCount(CompoundShape* shape);
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void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float position[3], float orientation[4]);
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void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float position[3], float orientation[4]);
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// These tokens need to exist for Lua bindings
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#define lovrSphereShapeDestroy lovrShapeDestroy
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#define lovrBoxShapeDestroy lovrShapeDestroy
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#define lovrCapsuleShapeDestroy lovrShapeDestroy
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#define lovrCylinderShapeDestroy lovrShapeDestroy
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#define lovrMeshShapeDestroy lovrShapeDestroy
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#define lovrTerrainShapeDestroy lovrShapeDestroy
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#define lovrCompoundShapeDestroy lovrShapeDestroy
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// Joints
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typedef enum {
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JOINT_BALL,
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JOINT_DISTANCE,
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JOINT_HINGE,
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JOINT_SLIDER
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} JointType;
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void lovrJointDestroy(void* ref);
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void lovrJointDestroyData(Joint* joint);
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bool lovrJointIsDestroyed(Joint* joint);
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JointType lovrJointGetType(Joint* joint);
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float lovrJointGetCFM(Joint* joint);
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void lovrJointSetCFM(Joint* joint, float cfm);
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float lovrJointGetERP(Joint* joint);
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void lovrJointSetERP(Joint* joint, float erp);
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void lovrJointGetColliders(Joint* joint, Collider** a, Collider** b);
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bool lovrJointIsEnabled(Joint* joint);
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void lovrJointSetEnabled(Joint* joint, bool enable);
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BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]);
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void lovrBallJointGetAnchors(BallJoint* joint, float anchor1[3], float anchor2[3]);
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void lovrBallJointSetAnchor(BallJoint* joint, float anchor[3]);
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float lovrBallJointGetResponseTime(Joint* joint);
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void lovrBallJointSetResponseTime(Joint* joint, float responseTime);
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float lovrBallJointGetTightness(Joint* joint);
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void lovrBallJointSetTightness(Joint* joint, float tightness);
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DistanceJoint* lovrDistanceJointCreate(Collider* a, Collider* b, float anchor1[3], float anchor2[3]);
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void lovrDistanceJointGetAnchors(DistanceJoint* joint, float anchor1[3], float anchor2[3]);
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void lovrDistanceJointSetAnchors(DistanceJoint* joint, float anchor1[3], float anchor2[3]);
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float lovrDistanceJointGetDistance(DistanceJoint* joint);
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void lovrDistanceJointSetDistance(DistanceJoint* joint, float distance);
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float lovrDistanceJointGetResponseTime(Joint* joint);
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void lovrDistanceJointSetResponseTime(Joint* joint, float responseTime);
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float lovrDistanceJointGetTightness(Joint* joint);
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void lovrDistanceJointSetTightness(Joint* joint, float tightness);
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HingeJoint* lovrHingeJointCreate(Collider* a, Collider* b, float anchor[3], float axis[3]);
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void lovrHingeJointGetAnchors(HingeJoint* joint, float anchor1[3], float anchor2[3]);
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void lovrHingeJointSetAnchor(HingeJoint* joint, float anchor[3]);
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void lovrHingeJointGetAxis(HingeJoint* joint, float axis[3]);
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void lovrHingeJointSetAxis(HingeJoint* joint, float axis[3]);
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float lovrHingeJointGetAngle(HingeJoint* joint);
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float lovrHingeJointGetLowerLimit(HingeJoint* joint);
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void lovrHingeJointSetLowerLimit(HingeJoint* joint, float limit);
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float lovrHingeJointGetUpperLimit(HingeJoint* joint);
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void lovrHingeJointSetUpperLimit(HingeJoint* joint, float limit);
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SliderJoint* lovrSliderJointCreate(Collider* a, Collider* b, float axis[3]);
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void lovrSliderJointGetAxis(SliderJoint* joint, float axis[3]);
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void lovrSliderJointSetAxis(SliderJoint* joint, float axis[3]);
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float lovrSliderJointGetPosition(SliderJoint* joint);
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float lovrSliderJointGetLowerLimit(SliderJoint* joint);
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void lovrSliderJointSetLowerLimit(SliderJoint* joint, float limit);
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float lovrSliderJointGetUpperLimit(SliderJoint* joint);
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void lovrSliderJointSetUpperLimit(SliderJoint* joint, float limit);
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// These tokens need to exist for Lua bindings
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#define lovrBallJointDestroy lovrJointDestroy
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#define lovrDistanceJointDestroy lovrJointDestroy
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#define lovrHingeJointDestroy lovrJointDestroy
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#define lovrSliderJointDestroy lovrJointDestroy
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