99 lines
2.7 KiB
C
99 lines
2.7 KiB
C
#ifndef RAPIER_H
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#define RAPIER_H
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typedef struct funnyphysics funnyphysics;
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typedef struct px_collider_params {
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float friction;
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} px_collider_params;
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typedef struct px_vec3 {
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float m[3];
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} px_vec3;
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typedef struct px_cast_result {
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int8_t hit;
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float time;
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struct px_vec3 witness1;
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struct px_vec3 witness2;
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struct px_vec3 normal1;
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struct px_vec3 normal2;
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} px_cast_result;
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typedef struct px_matrix {
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float m[16];
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} px_matrix;
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typedef struct px_rigidbody_params {
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float velocity[3];
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float angular_velocity[3];
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float gravity_scale;
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float linear_damping;
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float angular_damping;
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uint8_t continous;
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uint8_t sleeping;
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uint8_t lockrotx;
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uint8_t lockroty;
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uint8_t lockrotz;
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uint8_t lockposx;
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uint8_t lockposy;
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uint8_t lockposz;
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int8_t dominance;
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} px_rigidbody_params;
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#ifdef __cplusplus
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extern "C" {
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#endif // __cplusplus
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Collider *px_ball(float radius, struct px_collider_params params);
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Collider *px_box(float x, float y, float z, struct px_collider_params params);
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struct px_cast_result px_box_cast(struct funnyphysics *px_world,
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float x,
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float y,
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float z,
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struct px_vec3 pos,
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struct px_vec3 rot,
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struct px_vec3 vel,
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float time);
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void px_fixedbody(struct funnyphysics *px_world, Collider *collider);
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void px_frame(struct funnyphysics *px_world, float delta);
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struct px_matrix px_getmatrix(struct funnyphysics *px_world, RigidBodyHandle *body);
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struct px_vec3 px_getposition(struct funnyphysics *px_world, RigidBodyHandle *body);
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struct px_vec3 px_getvelocity(struct funnyphysics *px_world, RigidBodyHandle *body);
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struct funnyphysics *px_init(void);
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RigidBodyHandle *px_rigidbody(struct funnyphysics *px_world,
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Collider *collider,
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struct px_matrix m,
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struct px_rigidbody_params params);
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void px_setposition(struct funnyphysics *px_world, RigidBodyHandle *body, struct px_vec3 vec);
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void px_setvelocity(struct funnyphysics *px_world, RigidBodyHandle *body, struct px_vec3 vec);
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RigidBodyHandle *px_staticbody(struct funnyphysics *px_world,
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Collider *collider,
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struct px_matrix m);
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Collider *px_trimesh(const Point<float> *ptr_vert,
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size_t len_vert,
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const uint32_t (*ptr_ind)[3],
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size_t len_ind,
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struct px_collider_params params);
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#ifdef __cplusplus
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} // extern "C"
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#endif // __cplusplus
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#endif /* RAPIER_H */
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