driverheader.h

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// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
#include <stdint.h>

 
#ifdef __cplusplus
extern "C" {
#endif

void c_doThing(void);

uint64_t c_rsCreateWorld(double fixed_dt_s, int enable_gravity);

void c_rsDestroyWorld(uint64_t world_handle);

int c_rsCreateBody(uint64_t world_handle, double mass_kg);

int c_rsCreateGamepiece(uint64_t world_handle, double radius_m,
                        double mass_kg, double restitution);

int c_rsCreateGamepieceWithType(uint64_t world_handle, int type, double radius_m,
                                double mass_kg, double restitution);

int c_rsCreateGamepieceWithTypeName(uint64_t world_handle, const char* type_name,
                                   double radius_m, double mass_kg, double restitution);

const char* c_rsGetGamepieceTypeName(uint64_t world_handle, int gamepiece_index);

int c_rsPickGamepiece(uint64_t world_handle, int gamepiece_index,
                      double intake_x, double intake_y, double intake_z,
                      double capture_radius,
                      double carry_offset_x, double carry_offset_y,
                      double carry_offset_z);

int c_rsPlaceGamepiece(uint64_t world_handle, int gamepiece_index,
                      double x_m, double y_m, double z_m);

int c_rsOuttakeGamepiece(uint64_t world_handle, int gamepiece_index,
                      double px, double py, double pz,
                      double vx, double vy, double vz);

int c_rsSetBodyPosition(uint64_t world_handle, int body_index,
                        double x_m, double y_m, double z_m);

int c_rsSetBodyLinearVelocity(uint64_t world_handle, int body_index,
                              double vx_mps, double vy_mps, double vz_mps);

int c_rsSetBodyOrientation(uint64_t world_handle, int body_index,
                           double qw, double qx, double qy, double qz);

int c_rsGetBodyOrientation(uint64_t world_handle, int body_index,
                           double* out_qw, double* out_qx,
                           double* out_qy, double* out_qz);

int c_rsSetBodyOrientation(uint64_t world_handle, int body_index,
                           double qw, double qx, double qy, double qz);

int c_rsGetBodyOrientation(uint64_t world_handle, int body_index,
                           double* out_qw, double* out_qx,
                           double* out_qy, double* out_qz);

int c_rsSetBodyGravityEnabled(uint64_t world_handle, int body_index,
                              int enabled);

int c_rsSetBodyMaterial(uint64_t world_handle, int body_index,
                        double restitution, double friction_kinetic,
                        double friction_static, double collision_damping);

int c_rsSetBodyMaterialId(uint64_t world_handle, int body_index,
                          int32_t material_id);

int c_rsSetBodyCollisionFilter(uint64_t world_handle, int body_index,
                               uint32_t collision_layer_bits,
                               uint32_t collision_mask_bits);

int c_rsSetBodyAerodynamicSphere(uint64_t world_handle, int body_index,
                                 double radius_m, double drag_coefficient);

int c_rsSetBodyAerodynamicBox(uint64_t world_handle, int body_index,
                              double x_m, double y_m, double z_m,
                              double drag_coefficient);

int c_rsSetGamepiecePosition(uint64_t world_handle, int gamepiece_index,
                        double x_m, double y_m, double z_m);

int c_rsSetGamepieceLinearVelocity(uint64_t world_handle, int gamepiece_index,
                                   double vx_mps, double vy_mps, double vz_mps);

int c_rsGetGamepiecePosition(uint64_t world_handle, int gamepiece_index,
                             double* x_m, double* y_m, double* z_m);

int c_rsGetGamepieceLinearVelocity(uint64_t world_handle, int gamepiece_index,
                                   double* vx_mps, double* vy_mps, double* vz_mps);

int c_rsSetWorldAerodynamics(uint64_t world_handle, int enabled,
                             double air_density_kgpm3,
                             double linear_drag_coefficient_n_per_mps,
                             double magnus_coefficient,
                             double default_drag_coefficient,
                             double default_drag_reference_area_m2);

int c_rsSetMaterialInteraction(uint64_t world_handle, int32_t material_a_id,
                               int32_t material_b_id, double restitution,
                               double friction, int enabled);

int c_rsStepWorld(uint64_t world_handle, int steps);

int c_rsSetWorldGravity(uint64_t world_handle, double gx_mps2,
                        double gy_mps2, double gz_mps2);

int c_rsGetBodyPosition(uint64_t world_handle, int body_index,
                        double* x_m, double* y_m, double* z_m);

int c_rsGetBodyLinearVelocity(uint64_t world_handle, int body_index,
                              double* vx_mps, double* vy_mps, double* vz_mps);

int c_rsGetBodyPose7Array(uint64_t world_handle, double* out_pose7,
                          int max_bodies);

int c_rsGetBodyVelocity6Array(uint64_t world_handle, double* out_velocity6,
                              int max_bodies);

int c_rsGetBodyState13Array(uint64_t world_handle, double* out_state13,
                            int max_bodies);

int c_rsCreateAssembly(uint64_t world_handle);
 
#ifdef __cplusplus
}  // extern "C"
#endif