Bullet-C-Api.h File Reference

Go to the source code of this file.

Classes
struct	plRayCastResult
Defines
#define	PL_DECLARE_HANDLE(name)   typedef struct name##__ { int unused; } *name
Typedefs
typedef void(*	btBroadphaseCallback )(void *clientData, void *object1, void *object2)
typedef plReal	plQuaternion [4]
typedef struct plRayCastResult	plRayCastResult
typedef float	plReal
typedef plReal	plVector3 [3]
Functions
	PL_DECLARE_HANDLE (plCollisionWorldHandle)
	PL_DECLARE_HANDLE (plBroadphaseProxyHandle)
	PL_DECLARE_HANDLE (plCollisionBroadphaseHandle)
	PL_DECLARE_HANDLE (plMeshInterfaceHandle)
	PL_DECLARE_HANDLE (plConstraintHandle)
	PL_DECLARE_HANDLE (plCollisionShapeHandle)
	PL_DECLARE_HANDLE (plRigidBodyHandle)
	PL_DECLARE_HANDLE (plDynamicsWorldHandle)
	PL_DECLARE_HANDLE (plPhysicsSdkHandle)
void	plAddChildShape (plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn)
void	plAddRigidBody (plDynamicsWorldHandle world, plRigidBodyHandle object)
void	plAddTriangle (plMeshInterfaceHandle meshHandle, plVector3 v0, plVector3 v1, plVector3 v2)
void	plAddVertex (plCollisionShapeHandle convexHull, plReal x, plReal y, plReal z)
plCollisionWorldHandle	plCreateCollisionWorld (plPhysicsSdkHandle physicsSdk)
plDynamicsWorldHandle	plCreateDynamicsWorld (plPhysicsSdkHandle physicsSdk)
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)
plCollisionBroadphaseHandle	plCreateSapBroadphase (btBroadphaseCallback beginCallback, btBroadphaseCallback endCallback)
void	plDeleteDynamicsWorld (plDynamicsWorldHandle world)
void	plDeletePhysicsSdk (plPhysicsSdkHandle physicsSdk)
void	plDeleteRigidBody (plRigidBodyHandle body)
void	plDeleteShape (plCollisionShapeHandle shape)
void	plDestroyBroadphase (plCollisionBroadphaseHandle bp)
void	plDestroyProxy (plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle)
void	plGetOpenGLMatrix (plRigidBodyHandle object, plReal *matrix)
void	plGetOrientation (plRigidBodyHandle object, plQuaternion orientation)
void	plGetPosition (plRigidBodyHandle object, plVector3 position)
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])
plCollisionShapeHandle	plNewBoxShape (plReal x, plReal y, plReal z)
plPhysicsSdkHandle	plNewBulletSdk ()
plCollisionShapeHandle	plNewCapsuleShape (plReal radius, plReal height)
plCollisionShapeHandle	plNewCompoundShape ()
plCollisionShapeHandle	plNewConeShape (plReal radius, plReal height)
plCollisionShapeHandle	plNewConvexHullShape ()
plCollisionShapeHandle	plNewCylinderShape (plReal radius, plReal height)
plMeshInterfaceHandle	plNewMeshInterface ()
plCollisionShapeHandle	plNewSphereShape (plReal radius)
plCollisionShapeHandle	plNewStaticTriangleMeshShape (plMeshInterfaceHandle)
int	plRayCast (plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res)
void	plRemoveRigidBody (plDynamicsWorldHandle world, plRigidBodyHandle object)
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)
void	plSetOpenGLMatrix (plRigidBodyHandle object, plReal *matrix)
void	plSetOrientation (plRigidBodyHandle object, const plQuaternion orientation)
void	plSetPosition (plRigidBodyHandle object, const plVector3 position)
void	plSetScaling (plCollisionShapeHandle shape, plVector3 scaling)
void	plStepSimulation (plDynamicsWorldHandle, plReal timeStep)

---

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

(

plCollisionWorldHandle

)

PL_DECLARE_HANDLE

(

plBroadphaseProxyHandle

)

PL_DECLARE_HANDLE

(

plCollisionBroadphaseHandle

)

Broadphase Scene/Proxy Handles (C-API)

PL_DECLARE_HANDLE

(

plMeshInterfaceHandle

)

Triangle Mesh interface (C-API)

PL_DECLARE_HANDLE

(

plConstraintHandle

)

Constraint for Rigid Bodies (C-API)

PL_DECLARE_HANDLE

(

plCollisionShapeHandle

)

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

PL_DECLARE_HANDLE

(

plRigidBodyHandle

)

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

PL_DECLARE_HANDLE

(

plDynamicsWorldHandle

)

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

PL_DECLARE_HANDLE

(

plPhysicsSdkHandle

)

Particular physics SDK (C-API)

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

void plAddRigidBody	(	plDynamicsWorldHandle	world,
		plRigidBodyHandle	object
	)

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

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

plCollisionWorldHandle plCreateCollisionWorld

(

plPhysicsSdkHandle

physicsSdk

)

plDynamicsWorldHandle plCreateDynamicsWorld

(

plPhysicsSdkHandle

physicsSdk

)

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
	)

plCollisionBroadphaseHandle plCreateSapBroadphase	(	btBroadphaseCallback	beginCallback,
		btBroadphaseCallback	endCallback
	)

void plDeleteDynamicsWorld

(

plDynamicsWorldHandle

world

)

void plDeletePhysicsSdk

(

plPhysicsSdkHandle

physicsSdk

)

void plDeleteRigidBody

(

plRigidBodyHandle

body

)

void plDeleteShape

(

plCollisionShapeHandle

shape

)

void plDestroyBroadphase

(

plCollisionBroadphaseHandle

bp

)

void plDestroyProxy	(	plCollisionBroadphaseHandle	bp,
		plBroadphaseProxyHandle	proxyHandle
	)

void plGetOpenGLMatrix	(	plRigidBodyHandle	object,
		plReal *	matrix
	)

void plGetOrientation	(	plRigidBodyHandle	object,
		plQuaternion	orientation
	)

void plGetPosition	(	plRigidBodyHandle	object,
		plVector3	position
	)

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]
	)

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

plPhysicsSdkHandle plNewBulletSdk

(

)

Create and Delete a Physics SDK

plCollisionShapeHandle plNewCapsuleShape	(	plReal	radius,
		plReal	height
	)

plCollisionShapeHandle plNewCompoundShape

(

)

plCollisionShapeHandle plNewConeShape	(	plReal	radius,
		plReal	height
	)

plCollisionShapeHandle plNewConvexHullShape

(

)

plCollisionShapeHandle plNewCylinderShape	(	plReal	radius,
		plReal	height
	)

plMeshInterfaceHandle plNewMeshInterface

(

)

plCollisionShapeHandle plNewSphereShape

(

plReal

radius

)

plCollisionShapeHandle plNewStaticTriangleMeshShape

(

plMeshInterfaceHandle

)

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

void plRemoveRigidBody	(	plDynamicsWorldHandle	world,
		plRigidBodyHandle	object
	)

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
	)

void plSetOpenGLMatrix	(	plRigidBodyHandle	object,
		plReal *	matrix
	)

void plSetOrientation	(	plRigidBodyHandle	object,
		const plQuaternion	orientation
	)

void plSetPosition	(	plRigidBodyHandle	object,
		const plVector3	position
	)

void plSetScaling	(	plCollisionShapeHandle	shape,
		plVector3	scaling
	)

void plStepSimulation	(	plDynamicsWorldHandle	,
		plReal	timeStep
	)