/************************************************************************* *                                                                       * * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       * * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          * *                                                                       * * This library is free software; you can redistribute it and/or         * * modify it under the terms of EITHER:                                  * *   (1) The GNU Lesser General Public License as published by the Free  * *       Software Foundation; either version 2.1 of the License, or (at  * *       your option) any later version. The text of the GNU Lesser      * *       General Public License is included with this library in the     * *       file LICENSE.TXT.                                               * *   (2) The BSD-style license that is included with this library in     * *       the file LICENSE-BSD.TXT.                                       * *                                                                       * * This library is distributed in the hope that it will be useful,       * * but WITHOUT ANY WARRANTY; without even the implied warranty of        * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    * * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     * *                                                                       * *************************************************************************//*Draw Stuff----------this is a library for rendering simple 3D objects in a virtual environment.NOTES-----in the virtual world, the z axis is "up" and z=0 is the floor.the user is able to click+drag in the main window to move the camera:  * left button - pan and tilt.  * right button - forward and sideways.  * left + right button (or middle button) - sideways and up.*/#ifndef __DRAWSTUFF_H__#define __DRAWSTUFF_H__#ifdef __cplusplusextern "C" {#endif#include <drawstuff/version.h>/* texture numbers */#define DS_NONE   0	/* uses the current color instead of a texture */#define DS_WOOD   1
#define DS_BODY   1
#define DS_WHEEL  1
typedef struct dsFunctions {  int version;			/* put DS_VERSION here */  /* version 1 data */  void (*start)();		/* called before sim loop starts */  void (*step) (int pause);	/* called before every frame */  void (*command) (int cmd);	/* called if a command key is pressed */  void (*stop)();		/* called after sim loop exits */  /* version 2 data */  char *path_to_textures;	/* if nonzero, path to texture files */} dsFunctions;/* the main() function should fill in the dsFunctions structure then * call this. */void dsSimulationLoop (int argc, char **argv,		       int window_width, int window_height,		       struct dsFunctions *fn);/* these functions display an error message then exit. they take arguments * in the same way as printf(), except you do not have to add a terminating * '\n'. Debug() tries to dump core or start the debugger. */void dsError (char *msg, ...);void dsDebug (char *msg, ...);/* dsPrint() prints out a message. it takes arguments in the same way as * printf() (i.e. you must add a '\n' at the end of every line). */void dsPrint (char *msg, ...);/* set and get the camera position. xyz is the cameria position (x,y,z). * hpr contains heading, pitch and roll numbers in degrees. heading=0 * points along the x axis, pitch=0 is looking towards the horizon, and * roll 0 is "unrotated". */void dsSetViewpoint (float xyz[3], float hpr[3]);void dsGetViewpoint (float xyz[3], float hpr[3]);/* stop the simulation loop. calling this from within dsSimulationLoop() * will cause it to exit and return to the caller. it is the same as if the * user used the exit command. using this outside the loop will have no * effect. */void dsStop();/* change the way objects are drawn. these changes will apply to all further * dsDrawXXX() functions. the texture number must be a DS_xxx texture * constant. the red, green, and blue number are between 0 and 1. * alpha is between 0 and 1 - if alpha is not specified it's assubed to be 1. * the current texture is colored according to the current color. * at the start of each frame, the texture is reset to none and the color is * reset to white. */void dsSetTexture (int texture_number);void dsSetColor (float red, float green, float blue);void dsSetColorAlpha (float red, float green, float blue, float alpha);/* draw objects. *   - pos[] is the x,y,z of the center of the object. *   - R[] is a 3x3 rotation matrix for the object, stored by row like this: *        [ R11 R12 R13 0 ] *        [ R21 R22 R23 0 ] *        [ R31 R32 R33 0 ] *   - sides[] is an array of x,y,z side lengths. *   - all cylinders are aligned along the z axis. */void dsDrawBox (const float pos[3], const float R[12],float sides[3]);
void dsDrawPlate (const float pos[3], const float R[12], const float sides[3]);
void dsDrawTankBody (const float pos[3], const float R[12],float sides[3]);
void dsDrawTankSideCovers (const float pos[3], const float R[12], const float sides[3]);
void dsDrawTurret (const float pos[3], const float R[12],float sides[3]);
void dsDrawChainPlateH (const float pos[3], const float R[12], const float sides[3]);
void dsDrawChainPlateG (const float pos[3], const float R[12], const float sides[3]);void dsDrawSphere (const float pos[3], const float R[12], float radius);void dsDrawTriangle (const float pos[3], const float R[12],		     const float *v0, const float *v1, const float *v2, int solid);void dsDrawCylinder (const float pos[3], const float R[12],float length, float radius);
void dsDrawSprocketWheel (const float pos[3], const float R[12],float length, float radius,int n);void dsDrawCappedCylinder (const float pos[3], const float R[12],float length, float radius);void dsDrawLine (const float pos1[3], const float pos2[3]);/* these drawing functions are identical to the ones above, except they take * double arrays for `pos' and `R'. */void dsDrawBoxD (const double pos[3], const double R[12], double sides[3]);
void dsDrawPlateD (const double pos[3], const double R[12],const double sides[3]);
void dsDrawTankBodyD (const double pos[3], const double R[12],double sides[3]);
void dsDrawTurretD (const double pos[3], const double R[12],double sides[3]);
void dsDrawChainPlateHD (const double pos[3], const double R[12],const double sides[3]);
void dsDrawChainPlateGD (const double pos[3], const double R[12],const double sides[3]);void dsDrawSphereD (const double pos[3], const double R[12],const float radius);void dsDrawTriangleD (const double pos[3], const double R[12],const double *v0, const double *v1, const double *v2, int solid);void dsDrawCylinderD (const double pos[3], const double R[12],float length, float radius);void dsDrawCappedCylinderD (const double pos[3], const double R[12],float length, float radius);void dsDrawLineD (const double pos1[3], const double pos2[3]);/* Set the drawn quality of the objects. Higher numbers are higher quality, * but slower to draw. This must be set before the first objects are drawn to * be effective. */void dsSetSphereQuality (int n);		/* default = 1 */void dsSetCappedCylinderQuality (int n);	/* default = 3 */void dsMotion (int mode, int deltax, int deltay);/* closing bracket for extern "C" */#ifdef __cplusplus}#endif#endif