API tools faq
paste
Advertisement
Guest User

Newton Header 3.14 WIP 2016/02/19

a guest
Feb 19th, 2016
251
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
Delphi 101.63 KB | None | 0 0
raw download clone embed print report
  1. {
  2. ********************************************************************************
  3. *                                                                              *
  4. * Newton Game Dynamics Header Translation (Delphi/FreePascal)                  *
  5. *  Newton Version 3.14 (2013/02/15)                                            *
  6. *  Header Version 1.03                                                         *
  7. *                                                                              *
  8. *  Translation started by Stuart "Stucuk" Carey on 2012/08/09                  *
  9. *                                                                              *
  10. *  Contributors:                                                               *
  11. *                                                                              *
  12. *                                                                              *
  13. ********************************************************************************
  14. *                                                                              *
  15. * Copyright (c) <2003-2012> <Julio Jerez, Newton Game Dynamics>                *
  16. *                                                                              *
  17. * This software is provided 'as-is', without any express or implied            *
  18. * warranty. In no event will the authors be held liable for any damages        *
  19. * arising from the use of this software.                                       *
  20. *                                                                              *
  21. * Permission is granted to anyone to use this software for any purpose,        *
  22. * including commercial applications, and to alter it and redistribute it       *
  23. * freely, subject to the following restrictions:                               *
  24. *                                                                              *
  25. * 1. The origin of this software must not be misrepresented; you must not      *
  26. * claim that you wrote the original software. If you use this software         *
  27. * in a product, an acknowledgment in the product documentation would be        *
  28. * appreciated but is not required.                                             *
  29. *                                                                              *
  30. * 2. Altered source versions must be plainly marked as such, and must not be   *
  31. * misrepresented as being the original software.                               *
  32. *                                                                              *
  33. * 3. This notice may not be removed or altered from any source distribution.   *
  34. *                                                                              *
  35. ********************************************************************************
  36. }
  37.  
  38. unit Newton;
  39.  
  40. {== Local Defines ==
  41.   __NONDELPHI__            - Enables compatiblity with compilers other than Delphi.
  42.                              Note that pascaldefines.inc and newtonpascal.inc
  43.                              are protected under the Mozilla Public License.
  44.  
  45.  == Conditionals ==
  46.  Declare the Following in Projects->Options->Conditionals to enable them:
  47.   __USE_DOUBLE_PRECISION__ - Toggles Double Precision. DLL used must match this setting.
  48.  
  49.  == Local Defines ==}
  50.  //{$DEFINE __NONDELPHI__}
  51.  
  52.  
  53.  
  54. {$IFDEF __NONDELPHI__}
  55.  {$I pascaldefines.inc}
  56. {$ENDIF}
  57.  
  58. interface
  59.  
  60. {$IFDEF __NONDELPHI__}
  61.  {$I newtonpascal.inc}
  62. {$ELSE}
  63.  const
  64.  {$IFDEF __USE_DOUBLE_PRECISION__}
  65.   NEWTON_API = 'newtond.dll';
  66.  {$ELSE}
  67.   NEWTON_API = 'newton.dll';
  68.  {$ENDIF}
  69. {$ENDIF}
  70.  
  71.  NEWTON_MAJOR_VERSION                            = 3;
  72.  NEWTON_MINOR_VERSION                            = 14;
  73.  
  74.  NEWTON_DYNAMIC_BODY                             = 0;
  75.  NEWTON_KINEMATIC_BODY                           = 1;
  76.  NEWTON_DEFORMABLE_BODY                          = 2;
  77.  
  78.  SERIALIZE_ID_SPHERE                             = 0;
  79.  SERIALIZE_ID_CAPSULE                            = 1;
  80.  SERIALIZE_ID_CHAMFERCYLINDER                    = 2;
  81.  SERIALIZE_ID_TAPEREDCAPSULE                     = 3;
  82.  SERIALIZE_ID_CYLINDER                           = 4;
  83.  SERIALIZE_ID_TAPEREDCYLINDER                    = 5;
  84.  SERIALIZE_ID_BOX                                = 6;
  85.  SERIALIZE_ID_CONE                               = 7;
  86.  SERIALIZE_ID_CONVEXHULL                         = 8;
  87.  SERIALIZE_ID_NULL                               = 9;
  88.  SERIALIZE_ID_COMPOUND                           = 10;
  89.  SERIALIZE_ID_TREE                               = 11;
  90.  SERIALIZE_ID_HEIGHTFIELD                        = 12;
  91.  SERIALIZE_ID_CLOTH_PATCH                        = 13;
  92.  SERIALIZE_ID_DEFORMABLE_SOLID                   = 14;
  93.  SERIALIZE_ID_USERMESH                           = 15;
  94.  SERIALIZE_ID_SCENE                              = 16;
  95.  SERIALIZE_ID_FRACTURED_COMPOUND                 = 17;
  96.  
  97. type
  98. {$IFDEF __USE_DOUBLE_PRECISION__}
  99.  dFloat                       = Double;
  100. {$ELSE}
  101.  dFloat                       = Single;
  102. {$ENDIF}
  103.  dFloat64                     = Double;
  104.  dLong                        = Int64;
  105.  
  106.  PdFloat                      = ^dFloat;
  107.  PdFloat64                    = ^dFloat64;
  108.  PdLong                       = ^dLong;
  109.  
  110.  NewtonMesh                   = ^Pointer;
  111.  NewtonBody                   = ^Pointer;
  112.  NewtonWorld                  = ^Pointer;
  113.  NewtonJoint                  = ^Pointer;
  114.  NewtonMaterial               = ^Pointer;
  115.  NewtonCollision              = ^Pointer;
  116. // NewtonSceneProxy           = ^Pointer;
  117.  NewtonSkeletonContainer      = ^Pointer;
  118.  NewtonDeformableMeshSegment  = ^Pointer;
  119.  NewtonFracturedCompoundMeshPart = ^Pointer;
  120.  
  121.  NewtonSerializeHandle        = ^Pointer;
  122.  NewtonMeshHandle             = ^Pointer;
  123.  NewtonMeshVertex             = ^Pointer;
  124.  NewtonMeshPoint              = ^Pointer;
  125.  NewtonMeshEdge               = ^Pointer;
  126.  NewtonMeshFace               = ^Pointer;
  127.  NewtonListener               = ^Pointer;
  128.  
  129.  TNewtonBoxParam = Packed Record
  130.   m_x,
  131.   m_y,
  132.   m_z                    : dFloat;
  133.  end;
  134.  
  135.  TNewtonSphereParam = Packed Record
  136.   m_radio                : dFloat;
  137.  end;
  138.  
  139.  TNewtonCylinderParam = Packed Record
  140.   m_radio,
  141.   m_height               : dFloat;
  142.  end;
  143.  
  144.  TNewtonCapsuleParam = Packed Record
  145.   m_radio,
  146.   m_height               : dFloat;
  147.  end;
  148.  
  149.  TNewtonConeParam = Packed Record
  150.   m_radio,
  151.   m_height               : dFloat;
  152.  end;
  153.  
  154.  TNewtonTaperedCapsuleParam = Packed Record
  155.   m_radio0,
  156.   m_radio1,
  157.   m_height               : dFloat;
  158.  end;
  159.  
  160.  
  161.  TNewtonTaperedCylinderParam = Packed Record
  162.   m_radio0,
  163.   m_radio1,
  164.   m_height               : dFloat;
  165.  end;
  166.  
  167.  TNewtonChamferCylinderParam = Packed Record
  168.   m_radio,
  169.   m_height               : dFloat;
  170.  end;
  171.  
  172.  TNewtonConvexHullParam = Packed Record
  173.   m_vertexCount,
  174.   m_vertexStrideInBytes,
  175.   m_faceCount            : Integer;
  176.   m_vertex               : PdFloat;
  177.  end;
  178.  
  179.  
  180.  TNewtonCompoundCollisionParam = Packed Record
  181.   m_chidrenCount         : Integer;
  182.  end;
  183.  
  184.  
  185.  TNewtonCollisionTreeParam = Packed Record
  186.   m_vertexCount,
  187.   m_indexCount           : Integer;
  188.  end;
  189.  
  190.  TNewtonDeformableMeshParam = Packed Record
  191.   m_vertexCount,
  192.   m_triangleCount,
  193.   m_vertexStrideInBytes  : Integer;
  194.   m_indexList            : PWord;
  195.   m_vertexList           : PdFloat;
  196.  end;
  197.  
  198.  
  199.  TNewtonHeightFieldCollisionParam = Packed Record
  200.   m_width,
  201.   m_height,
  202.   m_gridsDiagonals,
  203.   m_elevationDataType     : Integer;// 0 = 32 bit floats, 1 = unsigned 16 bit integers
  204.   m_horizonalScale,
  205.   m_verticalScale         : dFloat;
  206.   m_horizonalDisplacementScale : dFloat;
  207.   m_vertialElevation      : Pointer;
  208.   m_horizotalDisplacement : PSmallInt;
  209.   m_atributes             : PShortInt;
  210.  end;
  211.  
  212.  TNewtonSceneCollisionParam = Packed Record
  213.   m_childrenProxyCount   : Integer;
  214.  end;
  215.  
  216.  TNewtonCollisionNullParam = packed record
  217.  end;
  218.  
  219.  PNewtonCollisionInfoRecord = ^TNewtonCollisionInfoRecord;
  220.  TNewtonCollisionInfoRecord = Packed Record
  221.   m_offsetMatrix         : Array [0..3,0..3] of dFloat;
  222.   m_collisionType,    // tag id to identify the collision primitive
  223.   m_collisionUserID      : Integer;
  224.  
  225.   case Integer of
  226.        SERIALIZE_ID_SPHERE           : (sdSphere             : TNewtonSphereParam);
  227.        SERIALIZE_ID_CAPSULE          : (sdCapsule            : TNewtonCapsuleParam);
  228.        SERIALIZE_ID_CHAMFERCYLINDER  : (sdChamferCylinder    : TNewtonChamferCylinderParam);
  229.        SERIALIZE_ID_TAPEREDCAPSULE   : (sdTaperedCapsule     : TNewtonTaperedCapsuleParam);
  230.        SERIALIZE_ID_CYLINDER         : (sdCylinder           : TNewtonCylinderParam);
  231.        SERIALIZE_ID_TAPEREDCYLINDER  : (sdTaperedCylinder    : TNewtonTaperedCylinderParam);
  232.        SERIALIZE_ID_BOX              : (sdBox                : TNewtonBoxParam);
  233.        SERIALIZE_ID_CONE             : (sdCone               : TNewtonConeParam);
  234.        SERIALIZE_ID_CONVEXHULL       : (sdConvexHull         : TNewtonConvexHullParam);
  235.        SERIALIZE_ID_NULL             : (sdNull               : TNewtonCollisionNullParam);
  236.        SERIALIZE_ID_COMPOUND         : (sdCompound           : TNewtonCompoundCollisionParam);
  237.        SERIALIZE_ID_TREE             : (sdTree               : TNewtonCollisionTreeParam);
  238.        SERIALIZE_ID_HEIGHTFIELD      : (sdHeightField        : TNewtonHeightFieldCollisionParam);
  239.        SERIALIZE_ID_DEFORMABLE_SOLID : (sdDeformableMesh     : TNewtonDeformableMeshParam);
  240.        SERIALIZE_ID_USERMESH         : (sdUserMesh           : Array[0..63] of dFloat);
  241.        SERIALIZE_ID_SCENE            : (sdSceneCollision     : TNewtonSceneCollisionParam);
  242.  
  243.   end;
  244.  
  245.  PNewtonJointRecord = ^TNewtonJointRecord;
  246.  TNewtonJointRecord = Packed Record
  247.   m_attachmenMatrix_0    : Array [0..3,0..3] of dFloat;
  248.   m_attachmenMatrix_1    : Array [0..3,0..3] of dFloat;
  249.   m_minLinearDof         : Array [0..2] of dFloat;
  250.   m_maxLinearDof         : Array [0..2] of dFloat;
  251.   m_minAngularDof        : Array [0..2] of dFloat;
  252.   m_maxAngularDof        : Array [0..2] of dFloat;
  253.   m_attachBody_0         : NewtonBody;
  254.   m_attachBody_1         : NewtonBody;
  255.   m_extraParameters      : Array [0..63] of dFloat;
  256.   m_bodiesCollisionOn    : Integer;
  257.   m_descriptionType      : Array [0..127] of ShortInt;
  258.  end;
  259.  
  260.  PNewtonUserMeshCollisionCollideDesc = ^TNewtonUserMeshCollisionCollideDesc;
  261.  TNewtonUserMeshCollisionCollideDesc = Packed Record
  262.   m_boxP0,                                              // lower bounding box of intersection query in local space
  263.   m_boxP1,                                              // upper bounding box of intersection query in local space
  264.   m_m_boxDistanceTravel  : Array [0..3] of dFloat;      // max distance that box bpxP0 and boxP1 can travel on this timestep, used this for continue collision mode.
  265.                                                         // used this for continue collision mode
  266.   m_threadNumber,                                       // current thread executing this query
  267.   m_faceCount,                                          // the application should set here how many polygons intersect the query box
  268.   m_vertexStrideInBytes  : Integer;                     // the application should set here the size of each vertex
  269.   m_skinThickness        : dFloat;                      // this is the minimum skin separation specified by the material between these two colliding shapes
  270.   m_userData             : Pointer;                     // user data passed to the collision geometry at creation time
  271.  
  272.   m_objBody,                                            // pointer to the colliding body
  273.   m_polySoupBody         : NewtonBody;                  // pointer to the rigid body owner of this collision tree
  274.   m_objCollision,                                       // collision shape of the colliding body, (no necessarily the collision of m_objBody)
  275.   m_polySoupCollision    : NewtonCollision;             // collision shape of teh collsion tree, (no necessarily the collision of m_polySoupBody)
  276.  
  277.   m_vertex               : PdFloat;                     // the application should set here the pointer to the global vertex of the mesh.
  278.   m_faceIndexCount,                                     // the application should set here the pointer to the vertex count of each face.
  279.   m_faceVertexIndex      : PInteger;                    // the application should set here the pointer index array for each vertex on a face.
  280.                                                         // the format of a face is I0, I1, I2, I3, ..., M, N, E0, E1, E2, ..., A
  281.                                                         // I0, I1, I2, .. are the indices to the vertex, relative to m_vertex pointer
  282.                                                         // M is the index to the material sub shape id
  283.                                                         // N in the index to the vertex normal relative to m_vertex pointer
  284.                                                         // E0, E1, E2, ... are the indices of the the face normal that is shared to that face edge, when the edge does not share a face normal then the edge index is set to index N, which the index to the face normal
  285.                                                         // A is and estimate of the largest diagonal of the face, this used internally as a hint to improve floating point accuracy and algorithm performance.
  286.  end;
  287.  
  288.  PNewtonWorldConvexCastReturnInfo = ^TNewtonWorldConvexCastReturnInfo;
  289.  TNewtonWorldConvexCastReturnInfo = Packed Record
  290.   m_point,                                              // collision point in global space
  291.   m_normal{,                                             // surface normal at collision point in global space
  292.   m_normalOnHitPoint}     : Array [0..3] of dFloat;      // surface normal at the surface of the hit body,
  293.                                                         // is the same as the normal calculated by a ray cast hitting the body at the hit point
  294.   m_contactID            : Integer;                     // collision ID at contact point
  295.   m_hitBody              : NewtonBody;                  // body hit at contact point
  296.   m_penetration          : dFloat;                      // contact penetration at collision point
  297.  end;
  298.  
  299.  PNewtonUserMeshCollisionRayHitDesc = ^TNewtonUserMeshCollisionRayHitDesc;
  300.  TNewtonUserMeshCollisionRayHitDesc = Packed Record
  301.   m_p0,                                                 // ray origin in collision local space
  302.   m_p1,                                                 // ray destination in collision local space
  303.   m_normalOut            : Array [0..3] of dFloat;      // copy here the normal at the ray intersection
  304.   m_userIdOut            : dLong;                       // copy here a user defined id for further feedback
  305.   m_userData             : Pointer;                     // user data passed to the collision geometry at creation time
  306.  end;
  307.  
  308.  PNewtonHingeSliderUpdateDesc = ^TNewtonHingeSliderUpdateDesc;
  309.  TNewtonHingeSliderUpdateDesc = Packed Record
  310.   m_accel,
  311.   m_minFriction,
  312.   m_maxFriction,
  313.   m_timestep             : dFloat;
  314.  end;
  315.  
  316.  PNewtonClothPatchMaterial = ^TNewtonClothPatchMaterial;
  317.  TNewtonClothPatchMaterial = Packed Record
  318.   m_damper,
  319.   m_stiffness            : dFloat;
  320.  end;
  321.  
  322.  PNewtonSkeletonBoneJacobian = ^TNewtonSkeletonBoneJacobian;
  323.  TNewtonSkeletonBoneJacobian = Packed Record
  324.   m_linear,
  325.   m_angular              : Array [0..3] of dFloat;
  326.  end;
  327.  
  328.  PNewtonSkeletonBoneJacobianPair = ^TNewtonSkeletonBoneJacobianPair;
  329.  TNewtonSkeletonBoneJacobianPair = Packed Record
  330.   m_j01,
  331.   m_j10                  : TNewtonSkeletonBoneJacobian;
  332.  end;
  333.  
  334.  PNewtonUserContactPoint = ^TNewtonUserContactPoint;
  335.  TNewtonUserContactPoint = Packed Record
  336.   m_point,
  337.   m_normal               : Array [0..3] of dFloat;
  338.   m_shapeId0             : dLong;
  339.   m_shapeId1             : dLong;
  340.   m_penetration          : dFloat;
  341.   m_unused               : Array [0..2] of Integer;
  342.  end;
  343.  
  344.  // Newton callback functions
  345.  PNewtonAllocMemory                          = ^TNewtonAllocMemory;
  346.  TNewtonAllocMemory                          = function (sizeInBytes : Integer) : Pointer;
  347.  PNewtonFreeMemory                           = ^TNewtonFreeMemory;
  348.  TNewtonFreeMemory                           = procedure (ptr : Pointer; sizeInBytes : Integer);
  349.  
  350.  PNewtonWorldDestructorCallback              = ^TNewtonWorldDestructorCallback;
  351.  TNewtonWorldDestructorCallback              = procedure (const World : NewtonWorld);
  352.  
  353.  PNewtonWorldListenerBodyDestroyCallback          = ^TNewtonWorldListenerBodyDestroyCallback;
  354.  TNewtonWorldListenerBodyDestroyCallback          = procedure (const World : NewtonWorld; listenerUserData : Pointer; body : NewtonBody);
  355.  
  356.  PNewtonWorldUpdateListenerCallback          = ^TNewtonWorldUpdateListenerCallback;
  357.  TNewtonWorldUpdateListenerCallback          = procedure (const World : NewtonWorld; listenerUserData : Pointer; timestep : dFloat);
  358.  PNewtonWorldDestroyListenerCallback         = ^TNewtonWorldDestroyListenerCallback;
  359.  TNewtonWorldDestroyListenerCallback         = procedure (const World : NewtonWorld; listenerUserData : Pointer);
  360.  
  361.  PNewtonGetTicksCountCallback                = ^TNewtonGetTicksCountCallback;
  362.  TNewtonGetTicksCountCallback                = function () : Cardinal;
  363.  
  364.  PNewtonSerializeCallback                    = ^TNewtonSerializeCallback;
  365.  TNewtonSerializeCallback                    = procedure (Handle : NewtonSerializeHandle; const buffer : Pointer; size : Integer);
  366.  PNewtonDeserializeCallback                  = ^TNewtonDeserializeCallback;
  367.  TNewtonDeserializeCallback                  = procedure (Handle : NewtonSerializeHandle; buffer : Pointer; size : Integer);
  368.  
  369.  PNewtonOnBodySerializationCallback          = ^TNewtonOnBodySerializationCallback;
  370.  TNewtonOnBodySerializationCallback          = procedure (body : NewtonBody; userData : Pointer; Callback : PNewtonSerializeCallback; Handle : NewtonSerializeHandle);
  371.  PNewtonOnBodyDeserializationCallback        = ^TNewtonOnBodyDeserializationCallback;
  372.  TNewtonOnBodyDeserializationCallback        = procedure (body : NewtonBody; userData : Pointer; Callback : PNewtonDeserializeCallback; Handle : NewtonSerializeHandle);
  373.  
  374.  PNewtonOnJointSerializationCallback         = ^TNewtonOnJointSerializationCallback;
  375.  TNewtonOnJointSerializationCallback         = procedure (joint : NewtonJoint; funct : PNewtonSerializeCallback; serializeHandle : NewtonSerializeHandle);
  376.  
  377.  PNewtonOnJointDeserializationCallback       = ^TNewtonOnJointDeserializationCallback;
  378.  TNewtonOnJointDeserializationCallback       = procedure (body0 : NewtonBody; body1 : NewtonBody; funct : PNewtonDeserializeCallback; serializeHandle : NewtonSerializeHandle);
  379.  
  380.  PNewtonOnUserCollisionSerializationCallback = ^TNewtonOnUserCollisionSerializationCallback;
  381.  TNewtonOnUserCollisionSerializationCallback = procedure (userData : Pointer; Callback : PNewtonSerializeCallback; Handle : NewtonSerializeHandle);
  382.  
  383.  
  384.  // user collision callbacks
  385.  PNewtonUserMeshCollisionDestroyCallback     = ^TNewtonUserMeshCollisionDestroyCallback;
  386.  TNewtonUserMeshCollisionDestroyCallback     = procedure (userData : Pointer);
  387.  PNewtonUserMeshCollisionRayHitCallback      = ^TNewtonUserMeshCollisionRayHitCallback;
  388.  TNewtonUserMeshCollisionRayHitCallback      = function (lineDescData : PNewtonUserMeshCollisionRayHitDesc) : dFloat;
  389.  PNewtonUserMeshCollisionGetCollisionInfo    = ^TNewtonUserMeshCollisionGetCollisionInfo;
  390.  TNewtonUserMeshCollisionGetCollisionInfo    = procedure (userData : Pointer; infoRecord : PNewtonCollisionInfoRecord);
  391.  PNewtonUserMeshCollisionAABBTest            = ^TNewtonUserMeshCollisionAABBTest;
  392.  TNewtonUserMeshCollisionAABBTest            = function (userData : Pointer; const boxP0,boxP1 : PdFloat) : Integer;
  393.  PNewtonUserMeshCollisionGetFacesInAABB      = ^TNewtonUserMeshCollisionGetFacesInAABB;
  394.  TNewtonUserMeshCollisionGetFacesInAABB      = function (userData : Pointer; const p0 : PdFloat; const p1 : PdFloat;
  395.                                                         const vertexArray : PdFloat; vertexCount : PInteger;
  396.                                                         vertexStrideInBytes : PInteger; const indexList : PInteger;
  397.                                                         maxIndexCount : Integer; const userDataList : PInteger) : Integer;
  398.  
  399.  PNewtonUserMeshCollisionCollideCallback     = ^TNewtonUserMeshCollisionCollideCallback;
  400.  TNewtonUserMeshCollisionCollideCallback     = procedure (collideDescData : PNewtonUserMeshCollisionCollideDesc; continueCollisionHandle : Pointer);
  401.  
  402.  PNewtonTreeCollisionFaceCallback            = ^TNewtonTreeCollisionFaceCallback;
  403.  TNewtonTreeCollisionFaceCallback            = function (context : Pointer; polygon : PdFloat; strideInBytes : Integer; indexArray : PInteger; indexCount : Integer) : Integer;
  404.  
  405.  PNewtonCollisionTreeRayCastCallback         = ^TNewtonCollisionTreeRayCastCallback;
  406.  TNewtonCollisionTreeRayCastCallback         = function (const body : NewtonBody; const treeCollision : NewtonCollision;
  407.                                                         interception : dFloat; normal : PdFloat; faceID : Integer;
  408.                                                         userData : Pointer) : dFloat;
  409.  PNewtonHeightFieldRayCastCallback           = ^TNewtonHeightFieldRayCastCallback;
  410.  TNewtonHeightFieldRayCastCallback           = function (const body : NewtonBody; const heightFieldCollision : NewtonCollision;
  411.                                                         interception : dFloat; row, col : Integer; normal : PdFloat;
  412.                                                         faceID : Integer; userData : Pointer) : dFloat;
  413.  
  414.  PNewtonCollisionCopyConstructionCallback    = ^TNewtonCollisionCopyConstructionCallback;
  415.  TNewtonCollisionCopyConstructionCallback    = procedure (newtonWorld : NewtonWorld; collision : NewtonCollision; sourceCollision : NewtonCollision);
  416.  
  417.  PNewtonCollisionDestructorCallback          = ^TNewtonCollisionDestructorCallback;
  418.  TNewtonCollisionDestructorCallback          = procedure (newtonWorld : NewtonWorld; collision : NewtonCollision);
  419.  
  420.  // collision tree call back (obsoleted no recommended)
  421.  PNewtonTreeCollisionCallback                = ^TNewtonTreeCollisionCallback;
  422.  TNewtonTreeCollisionCallback                = procedure (const bodyWithTreeCollision : NewtonBody; const body : NewtonBody;
  423.                                                          faceID : Integer; vertexCount : Integer; const vertexArray : PdFloat;
  424.                                                          vertexStrideInBytes : Integer);
  425.  
  426.  PNewtonBodyDestructor                       = ^TNewtonBodyDestructor;
  427.  TNewtonBodyDestructor                       = procedure (const body : NewtonBody);
  428.  PNewtonApplyForceAndTorque                  = ^TNewtonApplyForceAndTorque;
  429.  TNewtonApplyForceAndTorque                  = procedure (const body : NewtonBody; timestep : dFloat; threadIndex : Integer);
  430.  PNewtonSetTransform                         = ^TNewtonSetTransform;
  431.  TNewtonSetTransform                         = procedure (const body : NewtonBody; const matrix : PdFloat; threadIndex : Integer);
  432.  
  433.  PNewtonIslandUpdate                         = ^TNewtonIslandUpdate;
  434.  TNewtonIslandUpdate                         = function (const world : NewtonWorld; islandHandle : Pointer; bodyCount : Integer) : Integer;
  435.  
  436.  PNewtonFractureCompoundCollisionOnEmitCompoundFractured   = ^TNewtonFractureCompoundCollisionOnEmitCompoundFractured;
  437.  TNewtonFractureCompoundCollisionOnEmitCompoundFractured   = procedure (fracturedBody : NewtonBody);
  438.  
  439.  PNewtonFractureCompoundCollisionOnEmitChunk   = ^TNewtonFractureCompoundCollisionOnEmitChunk;
  440.  TNewtonFractureCompoundCollisionOnEmitChunk   = procedure (chunkBody : NewtonBody; fracturexChunkMesh : NewtonFracturedCompoundMeshPart; fracturedCompountCollision : NewtonCollision);
  441.  
  442.  PNewtonFractureCompoundCollisionReconstructMainMeshCallBack   = ^TNewtonFractureCompoundCollisionReconstructMainMeshCallBack;
  443.  TNewtonFractureCompoundCollisionReconstructMainMeshCallBack   = procedure (body : NewtonBody; mainMesh : NewtonFracturedCompoundMeshPart; fracturedCompountCollision : NewtonCollision);
  444.  
  445.  PNewtonWorldRayPrefilterCallback            = ^TNewtonWorldRayPrefilterCallback;
  446.  TNewtonWorldRayPrefilterCallback            = function (const body : NewtonBody; collision : NewtonCollision; userData : Pointer) : Cardinal;
  447.  PNewtonWorldRayFilterCallback               = ^TNewtonWorldRayFilterCallback;
  448.  TNewtonWorldRayFilterCallback               = function (const body : NewtonBody; const shapeHit : NewtonCollision; const hitContact : PDFloat; const hitNormal : PdFloat; collisionID : dLong;
  449.                                                         userData : Pointer; intersectParam : dFloat) : dFloat;
  450.  
  451.   PNewtonContactsProcess                      = ^TNewtonContactsProcess;
  452.  TNewtonContactsProcess                      = procedure (const contact : NewtonJoint; timestep : dFloat; threadIndex : Integer);
  453.  
  454.  PNewtonOnAABBOverlap                        = ^TNewtonOnAABBOverlap;
  455.  TNewtonOnAABBOverlap                        = function (const material : NewtonMaterial; const body0 : NewtonBody; const body1 : NewtonBody;
  456.                                                         threadIndex : Integer) : Integer;
  457.  
  458.  PNewtonOnCompoundSubCollisionAABBOverlap    = ^TNewtonOnCompoundSubCollisionAABBOverlap;
  459.  TNewtonOnCompoundSubCollisionAABBOverlap    = function (const material : NewtonMaterial; body0 : NewtonBody; collisionNode0 : Pointer; body1 : NewtonBody; collisionNode1 : Pointer; threadIndex : Integer) : Integer;
  460.  
  461.  PNewtonOnContactGeneration                  = ^TNewtonOnContactGeneration;
  462.  TNewtonOnContactGeneration                  = function (const material : NewtonMaterial; body0 : NewtonBody; collision0 : Pointer; body1 : NewtonBody; collision1 : Pointer; contactBuffer : PNewtonUserContactPoint; maxCount : Integer; threadIndex : Integer) : Integer;
  463.  
  464.  PNewtonBodyIterator                         = ^TNewtonBodyIterator;
  465.  TNewtonBodyIterator                         = function (const body : NewtonBody; userData : Pointer) : Integer;
  466.  PNewtonJointIterator                        = ^TNewtonJointIterator;
  467.  TNewtonJointIterator                        = procedure (const joint : NewtonJoint; userData : Pointer);
  468.  PNewtonCollisionIterator                    = ^TNewtonCollisionIterator;
  469.  TNewtonCollisionIterator                    = procedure (userData : Pointer; vertexCount : Integer; const faceArray : PdFloat; faceId : Integer);
  470.  
  471.  PNewtonBallCallback                         = ^TNewtonBallCallback;
  472.  TNewtonBallCallback                         = procedure (const ball : NewtonJoint; timestep : dFloat);
  473.  PNewtonHingeCallback                        = ^TNewtonHingeCallback;
  474.  TNewtonHingeCallback                        = function (const hinge : NewtonJoint; desc : PNewtonHingeSliderUpdateDesc) : Cardinal;
  475.  PNewtonSliderCallback                       = ^TNewtonSliderCallback;
  476.  TNewtonSliderCallback                       = function (const slider : NewtonJoint; desc : PNewtonHingeSliderUpdateDesc) : Cardinal;
  477.  PNewtonUniversalCallback                    = ^TNewtonUniversalCallback;
  478.  TNewtonUniversalCallback                    = function (const universal : NewtonJoint; desc : PNewtonHingeSliderUpdateDesc) : Cardinal;
  479.  PNewtonCorkscrewCallback                    = ^TNewtonCorkscrewCallback;
  480.  TNewtonCorkscrewCallback                    = function (const corkscrew : NewtonJoint; desc : PNewtonHingeSliderUpdateDesc) : Cardinal;
  481.  
  482.  PNewtonUserBilateralCallback                = ^TNewtonUserBilateralCallback;
  483.  TNewtonUserBilateralCallback                = procedure (const userJoint : NewtonJoint; timestep : dFloat; threadIndex : Integer);
  484.  PNewtonUserBilateralGetInfoCallback         = ^TNewtonUserBilateralGetInfoCallback;
  485.  TNewtonUserBilateralGetInfoCallback         = procedure (const userJoint : NewtonJoint; info : PNewtonJointRecord);
  486.  
  487.  PNewtonConstraintDestructor                 = ^TNewtonConstraintDestructor;
  488.  TNewtonConstraintDestructor                 = procedure (const me : NewtonJoint);
  489.  
  490.  PNewtonSkeletontDestructor                  = ^TNewtonSkeletontDestructor;
  491.  TNewtonSkeletontDestructor                  = procedure (const me : NewtonSkeletonContainer);
  492.  
  493.  PNewtonJobTask                              = ^TNewtonJobTask;
  494.  TNewtonJobTask                              = procedure (userData : Pointer; threadIndex : Integer);
  495.  
  496.  PNewtonReportProgress                       = ^TNewtonReportProgress;
  497.  TNewtonReportProgress                       = procedure (progressNormalzedPercent : dFloat);
  498.  
  499.  // **********************************************************************************************
  500.  //
  501.  // world control functions
  502.  //
  503.  // **********************************************************************************************
  504.  function NewtonWorldGetVersion () : Integer; cdecl; external NEWTON_API;
  505.  function NewtonWorldFloatSize () : Integer; cdecl; external NEWTON_API;
  506.  
  507.  function NewtonGetMemoryUsed () : Integer; cdecl; external NEWTON_API;
  508.  procedure NewtonSetMemorySystem (malloc : PNewtonAllocMemory; free : PNewtonFreeMemory); cdecl; external NEWTON_API;
  509.  
  510.  function NewtonCreate () : NewtonWorld; cdecl; external NEWTON_API;
  511.  procedure NewtonDestroy (const world : NewtonWorld); cdecl; external NEWTON_API;
  512.  procedure NewtonDestroyAllBodies (const world : NewtonWorld); cdecl; external NEWTON_API;
  513.  
  514.  function NewtonAlloc (sizeInBytes : Integer) : Pointer; cdecl; external NEWTON_API;
  515.  procedure NewtonFree (ptr : Pointer); cdecl; external NEWTON_API;
  516.  
  517.  // procedure NewtonSetPlatformArchitecture (const world : NewtonWorld; int mode);
  518.  // NEWTON_API int NewtonGetPlatformArchitecture(const world : NewtonWorld; char* description);
  519.  
  520.  function NewtonEnumerateDevices (const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  521.  function NewtonGetCurrentDevice (const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  522.  procedure NewtonSetCurrentDevice (const world : NewtonWorld; deviceIndex : Integer); cdecl; external NEWTON_API;
  523.  procedure NewtonGetDeviceString (const world : NewtonWorld; deviceIndex : Integer; vendorString : PChar; maxSize : Integer); cdecl; external NEWTON_API;
  524.  
  525.  function NewtonGetGlobalScale (const world : NewtonWorld) : dFloat; cdecl; external NEWTON_API;
  526.  procedure NewtonSetGlobalScale (const world : NewtonWorld; scale : dFloat); cdecl; external NEWTON_API;
  527.  
  528.  function NewtonGetContactMergeTolerance (const world : NewtonWorld) : dFloat; cdecl; external NEWTON_API;
  529.  procedure NewtonSetContactMergeTolerance (const world : NewtonWorld; tolerance : dFloat); cdecl; external NEWTON_API;
  530.  
  531.  procedure NewtonInvalidateCache (const world : NewtonWorld); cdecl; external NEWTON_API;
  532.  procedure NewtonSetSolverModel (const world : NewtonWorld; model : Integer); cdecl; external NEWTON_API;
  533.  procedure NewtonSetSolverConvergenceQuality (const world : NewtonWorld; lowOrHigh : Integer); cdecl; external NEWTON_API;
  534.  
  535.  procedure NewtonSetMultiThreadSolverOnSingleIsland (const world : NewtonWorld; mode : Integer); cdecl; external NEWTON_API;
  536.  function NewtonGetMultiThreadSolverOnSingleIsland (const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  537.  
  538.  //procedure NewtonSetPerformanceClock (const world : NewtonWorld; callback : PNewtonGetTicksCountCallback); cdecl; external NEWTON_API;
  539.  //function NewtonReadPerformanceTicks (const world : NewtonWorld; performanceEntry : Cardinal) : Cardinal; cdecl; external NEWTON_API;
  540.  
  541.  function NewtonGetBroadphaseAlgorithm (const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  542.  procedure NewtonSelectBroadphaseAlgorithm (const world : NewtonWorld; algorithmType : Integer); cdecl; external NEWTON_API;
  543.  
  544.  procedure NewtonUpdate (const world : NewtonWorld; timestep : dFloat); cdecl; external NEWTON_API;
  545.  procedure NewtonUpdateAsync (const world : NewtonWorld; timestep : dFloat); cdecl; external NEWTON_API;
  546.  procedure NewtonWaitForUpdateToFinish (const world : NewtonWorld); cdecl; external NEWTON_API;
  547.  
  548.  procedure NewtonSerializeToFile (const world : NewtonWorld; const filename : PChar; bodyCallback : PNewtonOnBodySerializationCallback; bodyUserData : Pointer); cdecl; external NEWTON_API;
  549.  procedure NewtonDeserializeFromFile (const world : NewtonWorld; const filename : PChar; bodyCallback : PNewtonOnBodyDeserializationCallback; bodyUserData : Pointer); cdecl; external NEWTON_API;
  550.  
  551.  procedure NewtonSetJointSerializationCallbacks (const world : NewtonWorld; serializeJoint : PNewtonOnJointSerializationCallback; deserializeJoint : PNewtonOnJointDeserializationCallback); cdecl; external NEWTON_API;
  552.  procedure NewtonGetJointSerializationCallbacks (const world : NewtonWorld; serializeJoint : PNewtonOnJointSerializationCallback; deserializeJoint : PNewtonOnJointDeserializationCallback); cdecl; external NEWTON_API;
  553.  
  554.  // multi threading interface
  555.  procedure NewtonWorldCriticalSectionLock (const world : NewtonWorld; threadIndex : Integer); cdecl; external NEWTON_API;
  556.  procedure NewtonWorldCriticalSectionUnlock (const world : NewtonWorld); cdecl; external NEWTON_API;
  557.  procedure NewtonSetThreadsCount (const world : NewtonWorld; threads : Integer); cdecl; external NEWTON_API;
  558.  function NewtonGetThreadsCount(const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  559.  function NewtonGetMaxThreadsCount(const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  560.  procedure NewtonDispachThreadJob(const world : NewtonWorld; task : PNewtonJobTask; userData : Pointer); cdecl; external NEWTON_API;
  561.  procedure NewtonSyncThreadJobs(const world : NewtonWorld); cdecl; external NEWTON_API;
  562.  
  563.  // atomic operations
  564.  function NewtonAtomicAdd(ptr : PInteger; Value : Integer) : Integer; cdecl; external NEWTON_API;
  565.  function NewtonAtomicSwap(ptr : PInteger; Value : Integer) : Integer; cdecl; external NEWTON_API;
  566.  procedure NewtonYield(); cdecl; external NEWTON_API;
  567.  
  568.  procedure NewtonSetFrictionModel (const world : NewtonWorld; model : Integer); cdecl; external NEWTON_API;
  569.  procedure NewtonSetMinimumFrameRate (const world : NewtonWorld; frameRate : dFloat); cdecl; external NEWTON_API;
  570.  procedure NewtonSetIslandUpdateEvent (const world : NewtonWorld; islandUpdate : PNewtonIslandUpdate); cdecl; external NEWTON_API;
  571.  //procedure NewtonSetDestroyBodyByExeciveForce (const world : NewtonWorld; callback : PNewtonDestroyBodyByExeciveForce); cdecl; external NEWTON_API;
  572.  
  573. // procedure NewtonWorldForEachBodyDo (const world : NewtonWorld; NewtonBodyIterator callback);
  574.  procedure NewtonWorldForEachJointDo (const world : NewtonWorld; callback : PNewtonJointIterator; userData : Pointer); cdecl; external NEWTON_API;
  575.  procedure NewtonWorldForEachBodyInAABBDo (const world : NewtonWorld; const p0 : PdFloat; const p1 : PdFloat; callback : PNewtonBodyIterator; userData : Pointer); cdecl; external NEWTON_API;
  576.  
  577.  
  578.  procedure NewtonWorldSetUserData (const world : NewtonWorld; userData : Pointer); cdecl; external NEWTON_API;
  579.  function NewtonWorldGetUserData (const world : NewtonWorld) : Pointer; cdecl; external NEWTON_API;
  580.  
  581.  function NewtonWorldGetListenerUserData (const world : NewtonWorld; Listener : NewtonListener) : Pointer; cdecl; external NEWTON_API;
  582.  function NewtonWorldListenerGetBodyDestroyCallback (const world : NewtonWorld; Listener : NewtonListener) : PNewtonWorldListenerBodyDestroyCallback; cdecl; external NEWTON_API;
  583.  procedure NewtonWorldListenerSetBodyDestroyCallback (const world : NewtonWorld; Listener : NewtonListener; bodyDestroyCallback : PNewtonWorldListenerBodyDestroyCallback); cdecl; external NEWTON_API;
  584.  
  585.  function NewtonWorldGetPreListener (const world : NewtonWorld; nameID : PChar) : NewtonListener; cdecl; external NEWTON_API;
  586.  function NewtonWorldAddPreListener (const world : NewtonWorld; nameID : PChar; listenerUserData : Pointer; Update : PNewtonWorldUpdateListenerCallback; Destroy : PNewtonWorldDestroyListenerCallback) : NewtonListener; cdecl; external NEWTON_API;
  587.  
  588.  function NewtonWorldGetPostListener (const world : NewtonWorld; nameID : PChar) : NewtonListener; cdecl; external NEWTON_API;
  589.  function NewtonWorldAddPostListener (const world : NewtonWorld; nameID : PChar; listenerUserData : Pointer; Update : PNewtonWorldUpdateListenerCallback; Destroy : PNewtonWorldDestroyListenerCallback) : NewtonListener; cdecl; external NEWTON_API;
  590.  
  591.  procedure NewtonWorldSetDestructorCallback (const world : NewtonWorld; callback : PNewtonWorldDestructorCallback); cdecl; external NEWTON_API;
  592.  function NewtonWorldGetDestructorCallback (const world : NewtonWorld) : PNewtonWorldDestructorCallback; cdecl; external NEWTON_API;
  593.  
  594.  procedure NewtonWorldSetCollisionConstructorDestructorCallback (const world : NewtonWorld; construct : PNewtonCollisionCopyConstructionCallback; destruct : PNewtonCollisionDestructorCallback); cdecl; external NEWTON_API;
  595.  
  596.  
  597.  procedure NewtonWorldRayCast (const world : NewtonWorld; const p0 : PdFloat; const p1 : PdFloat; filter : PNewtonWorldRayFilterCallback; userData : Pointer;
  598.                                prefilter : PNewtonWorldRayPrefilterCallback; threadIndex : Integer); cdecl; external NEWTON_API;
  599.  
  600.  procedure NewtonWorldConvexRayCast (const world : NewtonWorld; shape : NewtonCollision; const Matrix : PdFloat; p1 : PdFloat; filter : PNewtonWorldRayFilterCallback; userData : Pointer;
  601.                                prefilter : PNewtonWorldRayPrefilterCallback; threadIndex : Integer); cdecl; external NEWTON_API;
  602.  
  603.  function NewtonWorldCollide (const world : NewtonWorld; const Matrix : PdFloat; const shape : NewtonCollision; UserData : Pointer;
  604.                               prefilter : PNewtonWorldRayPrefilterCallback; Info : PNewtonWorldConvexCastReturnInfo; maxContactsCount : Integer; threadIndex : Integer) : Integer; cdecl; external NEWTON_API;
  605.  
  606.  function NewtonWorldConvexCast (const world : NewtonWorld; const matrix : PdFloat; const target : PdFloat; const shape : NewtonCollision; hitParam : PdFloat; userData : Pointer;
  607.                                  prefilter : PNewtonWorldRayPrefilterCallback; info : PNewtonWorldConvexCastReturnInfo; maxContactsCount : Integer; threadIndex : Integer) : Integer; cdecl; external NEWTON_API;
  608.  
  609.  
  610.  // world utility functions
  611.  function NewtonWorldGetBodyCount(const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  612.  function NewtonWorldGetConstraintCount(const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  613.  
  614.  
  615.  // **********************************************************************************************
  616.  //
  617.  // Simulation islands
  618.  //
  619.  // **********************************************************************************************
  620.  function NewtonIslandGetBody (const island : Pointer; bodyIndex : Integer) : NewtonBody; cdecl; external NEWTON_API;
  621.  procedure NewtonIslandGetBodyAABB (const island : Pointer; bodyIndex : Integer; p0 : PdFloat; p1 : PdFloat); cdecl; external NEWTON_API;
  622.  
  623.  // **********************************************************************************************
  624.  //
  625.  // Physics Material Section
  626.  //
  627.  // **********************************************************************************************
  628.  function NewtonMaterialCreateGroupID(const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  629.  function NewtonMaterialGetDefaultGroupID(const world : NewtonWorld) : Integer; cdecl; external NEWTON_API;
  630.  procedure NewtonMaterialDestroyAllGroupID(const world : NewtonWorld); cdecl; external NEWTON_API;
  631.  
  632.  // material definitions that can not be overwritten in function callback
  633.  function NewtonMaterialGetUserData (const world : NewtonWorld; id0 : Integer; id1 : Integer) : Pointer; cdecl; external NEWTON_API;
  634.  procedure NewtonMaterialSetSurfaceThickness (const world : NewtonWorld; id0 : Integer; id1 : Integer; thickness : dFloat); cdecl; external NEWTON_API;
  635.  
  636. // deprecated, not longer continue collision is set on the material  
  637. // procedure NewtonMaterialSetContinuousCollisionMode (const world : NewtonWorld; id0 : Integer; id1 : Integer; state : Integer);
  638.  procedure NewtonMaterialSetCallbackUserData (const world : NewtonWorld; id0 : Integer; id1 : Integer; userData : Pointer); cdecl; external NEWTON_API;
  639.  procedure NewtonMaterialSetContactGenerationCallback (const world : NewtonWorld; id0 : Integer; id1 : Integer; contactGeneration : PNewtonOnContactGeneration); cdecl; external NEWTON_API;
  640.  procedure NewtonMaterialSetCompoundCollisionCallback (const world : NewtonWorld; id0 : Integer; id1 : Integer; compoundAabbOverlap : PNewtonOnCompoundSubCollisionAABBOverlap); cdecl; external NEWTON_API;
  641.  procedure NewtonMaterialSetCollisionCallback (const world : NewtonWorld; id0 : Integer; id1 : Integer; aabbOverlap : PNewtonOnAABBOverlap; process : PNewtonContactsProcess); cdecl; external NEWTON_API;
  642.  
  643.  procedure NewtonMaterialSetDefaultSoftness (const world : NewtonWorld; id0 : Integer; id1 : Integer; value : dFloat); cdecl; external NEWTON_API;
  644.  procedure NewtonMaterialSetDefaultElasticity (const world : NewtonWorld; id0 : Integer; id1 : Integer; elasticCoef : dFloat); cdecl; external NEWTON_API;
  645.  procedure NewtonMaterialSetDefaultCollidable (const world : NewtonWorld; id0 : Integer; id1 : Integer; state : Integer); cdecl; external NEWTON_API;
  646.  procedure NewtonMaterialSetDefaultFriction (const world : NewtonWorld; id0 : Integer; id1 : Integer; staticFriction : dFloat; kineticFriction : dFloat); cdecl; external NEWTON_API;
  647.  
  648.  function NewtonWorldGetFirstMaterial (const world : NewtonWorld) : NewtonMaterial; cdecl; external NEWTON_API;
  649.  function NewtonWorldGetNextMaterial (const world : NewtonWorld; const material : NewtonMaterial) : NewtonMaterial; cdecl; external NEWTON_API;
  650.  
  651.  function NewtonWorldGetFirstBody (const world : NewtonWorld) : NewtonBody; cdecl; external NEWTON_API;
  652.  function NewtonWorldGetNextBody (const world : NewtonWorld; const curBody : NewtonBody) : NewtonBody; cdecl; external NEWTON_API;
  653.  
  654.  
  655.  // **********************************************************************************************
  656.  //
  657.  // Physics Contact control functions
  658.  //
  659.  // **********************************************************************************************
  660.  function NewtonMaterialGetMaterialPairUserData (const material : NewtonMaterial) : Pointer; cdecl; external NEWTON_API;
  661.  function NewtonMaterialGetContactFaceAttribute (const material : NewtonMaterial) : Cardinal; cdecl; external NEWTON_API;
  662.  function NewtonMaterialGetBodyCollidingShape (const material : NewtonMaterial; const body : NewtonBody) : NewtonCollision; cdecl; external NEWTON_API;
  663.  function NewtonMaterialGetContactNormalSpeed (const material : NewtonMaterial) : dFloat; cdecl; external NEWTON_API;
  664.  procedure NewtonMaterialGetContactForce (const material : NewtonMaterial; const body : NewtonBody; force : PdFloat); cdecl; external NEWTON_API;
  665.  procedure NewtonMaterialGetContactPositionAndNormal (const material : NewtonMaterial; const body : NewtonBody; posit : PdFloat; normal : PdFloat); cdecl; external NEWTON_API;
  666.  procedure NewtonMaterialGetContactTangentDirections (const material : NewtonMaterial; const body : NewtonBody; dir0 : PdFloat; dir1 : PdFloat); cdecl; external NEWTON_API;
  667.  function NewtonMaterialGetContactTangentSpeed (const material : NewtonMaterial; index : Integer) : dFloat; cdecl; external NEWTON_API;
  668.  
  669.  function NewtonMaterialGetContactMaxNormalImpact (const material : NewtonMaterial) : dFloat; cdecl; external NEWTON_API;
  670.  function NewtonMaterialGetContactMaxTangentImpact (const material : NewtonMaterial; index : Integer) : dFloat; cdecl; external NEWTON_API;
  671.  
  672.  procedure NewtonMaterialSetContactSoftness (const material : NewtonMaterial; softness : dFloat); cdecl; external NEWTON_API;
  673.  procedure NewtonMaterialSetContactElasticity (const material : NewtonMaterial; restitution : dFloat); cdecl; external NEWTON_API;
  674.  procedure NewtonMaterialSetContactFrictionState (const material : NewtonMaterial; state : Integer; index : Integer); cdecl; external NEWTON_API;
  675.  procedure NewtonMaterialSetContactFrictionCoef (const material : NewtonMaterial; staticFrictionCoef : dFloat; kineticFrictionCoef : dFloat; index : Integer); cdecl; external NEWTON_API;
  676.  
  677.  procedure NewtonMaterialSetContactNormalAcceleration (const material : NewtonMaterial; accel : dFloat); cdecl; external NEWTON_API;
  678.  procedure NewtonMaterialSetContactNormalDirection (const material : NewtonMaterial; const directionVector : PdFloat); cdecl; external NEWTON_API;
  679.  
  680.  procedure NewtonMaterialSetContactPosition (const material : NewtonMaterial; const position : PdFloat); cdecl; external NEWTON_API;
  681.  procedure NewtonMaterialSetContactTangentFriction (const material : NewtonMaterial; friction : dFloat; index : Integer); cdecl; external NEWTON_API;
  682.  
  683.  procedure NewtonMaterialSetContactTangentAcceleration (const material : NewtonMaterial; accel : dFloat; index : Integer); cdecl; external NEWTON_API;
  684.  procedure NewtonMaterialContactRotateTangentDirections (const material : NewtonMaterial; const directionVector : PdFloat); cdecl; external NEWTON_API;
  685.  
  686.  // **********************************************************************************************
  687.  //
  688.  // convex collision primitives creation functions
  689.  //
  690.  // **********************************************************************************************
  691.  function NewtonCreateNull (const world : NewtonWorld) : NewtonCollision; cdecl; external NEWTON_API;
  692.  function NewtonCreateSphere (const world : NewtonWorld; radius : dFloat; shapeID : Integer; const offsetMatrix : PdFloat) : NewtonCollision; cdecl; external NEWTON_API;
  693.  function NewtonCreateBox (const world : NewtonWorld; dx : dFloat; dy : dFloat; dz : dFloat; shapeID : Integer; const offsetMatrix : PdFloat) : NewtonCollision; cdecl; external NEWTON_API;
  694.  function NewtonCreateCone (const world : NewtonWorld; radius : dFloat; height : dFloat; shapeID : Integer; const offsetMatrix : PdFloat) : NewtonCollision; cdecl; external NEWTON_API;
  695.  function NewtonCreateCapsule (const world : NewtonWorld; radius : dFloat; height : dFloat; shapeID : Integer; const offsetMatrix : PdFloat) : NewtonCollision; cdecl; external NEWTON_API;
  696.  function NewtonCreateCylinder (const world : NewtonWorld; radius : dFloat; height : dFloat; shapeID : Integer; const offsetMatrix : PdFloat) : NewtonCollision; cdecl; external NEWTON_API;
  697.  function NewtonCreateTaperedCapsule (const world : NewtonWorld; radio0 : dFloat; radio1 : dFloat; height : dFloat; shapeID : Integer; const offsetMatrix : PdFloat) : NewtonCollision; cdecl; external NEWTON_API;
  698.  function NewtonCreateTaperedCylinder (const world : NewtonWorld; radio0 : dFloat; radio1 : dFloat; height : dFloat; shapeID : Integer; const offsetMatrix : PdFloat) : NewtonCollision; cdecl; external NEWTON_API;
  699.  function NewtonCreateChamferCylinder (const world : NewtonWorld; radius : dFloat; height : dFloat; shapeID : Integer; const offsetMatrix : PdFloat) : NewtonCollision; cdecl; external NEWTON_API;
  700.  function NewtonCreateConvexHull (const world : NewtonWorld; count : Integer; const vertexCloud : PdFloat; strideInBytes : Integer; tolerance : dFloat; shapeID : Integer; const offsetMatrix : PdFloat) : NewtonCollision; cdecl; external NEWTON_API;
  701.  function NewtonCreateConvexHullFromMesh (const world : NewtonWorld; const mesh : NewtonMesh; tolerance : dFloat; shapeID : Integer) : NewtonCollision; cdecl; external NEWTON_API;
  702.  
  703.  function NewtonCollisionGetMode(const convexCollision : NewtonCollision) : Integer; cdecl; external NEWTON_API;
  704.  procedure NewtonCollisionSetMode(const convexCollision : NewtonCollision; mode : Integer); cdecl; external NEWTON_API;
  705.  
  706. // procedure NewtonCollisionSetMaxBreakImpactImpulse(const convexHullCollision : NewtonCollision; dFloat maxImpactImpulse);
  707. // NEWTON_API dFloat NewtonCollisionGetMaxBreakImpactImpulse(const NewtonCollision* const convexHullCollision);
  708.  
  709.  
  710.  function NewtonConvexHullGetFaceIndices (const convexHullCollision : NewtonCollision; face : Integer; faceIndices : PInteger) : Integer; cdecl; external NEWTON_API;
  711.  
  712.  function NewtonConvexHullGetVertexData (const convexHullCollision : NewtonCollision; vertexData : PdFloat; strideInBytes : PInteger) : Integer; cdecl; external NEWTON_API;
  713.  
  714.  function NewtonConvexCollisionCalculateVolume (const convexCollision : NewtonCollision) : dFloat; cdecl; external NEWTON_API;
  715.  procedure NewtonConvexCollisionCalculateInertialMatrix (const convexCollision : NewtonCollision; inertia : PdFloat; origin : PdFloat); cdecl; external NEWTON_API;
  716.  
  717.  procedure NewtonConvexCollisionCalculateBuoyancyAcceleration (const convexCollision : NewtonCollision; matrix : PdFloat; shapeOrigin : PdFloat; gravityVector : PdFloat; fluidPlane : PdFloat; fluidDensity : dFloat; fluidViscosity : dFloat; accel : PdFloat; alpha : PdFloat); cdecl; external NEWTON_API;
  718.  function NewtonCollisionDataPointer (const convexCollision : NewtonCollision) : Pointer; cdecl; external NEWTON_API;
  719.  
  720.  
  721.  // **********************************************************************************************
  722.  //
  723.  // compound collision primitives creation functions
  724.  //
  725.  // **********************************************************************************************
  726.  function NewtonCreateCompoundCollision (const world : NewtonWorld; shapeID : Integer) : NewtonCollision; cdecl; external NEWTON_API;
  727.  function NewtonCreateCompoundCollisionFromMesh (const world : NewtonWorld; const mesh : NewtonMesh; hullTolerance : dFloat; shapeID : Integer; subShapeID : Integer) : NewtonCollision; cdecl; external NEWTON_API;
  728.  
  729.  procedure NewtonCompoundCollisionBeginAddRemove (compoundCollision : NewtonCollision); cdecl; external NEWTON_API;
  730.  function NewtonCompoundCollisionAddSubCollision (const compoundCollision : NewtonCollision; convexCollision : NewtonCollision) : Pointer; cdecl; external NEWTON_API;
  731.  procedure NewtonCompoundCollisionRemoveSubCollision (const compoundCollision : NewtonCollision; collisionNode : Pointer); cdecl; external NEWTON_API;
  732.  procedure NewtonCompoundCollisionRemoveSubCollisionByIndex (const compoundCollision : NewtonCollision; nodeIndex : Integer); cdecl; external NEWTON_API;
  733.  procedure NewtonCompoundCollisionSetSubCollisionMatrix (const compoundCollision : NewtonCollision; node : Pointer; matrix : PdFloat); cdecl; external NEWTON_API;
  734.  procedure NewtonCompoundCollisionEndAddRemove (compoundCollision : NewtonCollision); cdecl; external NEWTON_API;
  735.  
  736.  function NewtonCompoundCollisionGetFirstNode (compoundCollision : NewtonCollision) : Pointer; cdecl; external NEWTON_API;
  737.  function NewtonCompoundCollisionGetNextNode (const compoundCollision : NewtonCollision; node : Pointer) : Pointer; cdecl; external NEWTON_API;
  738.  
  739.  function NewtonCompoundCollisionGetNodeByIndex (const compoundCollision : NewtonCollision; index : Integer) : Pointer; cdecl; external NEWTON_API;
  740.  function NewtonCompoundCollisionGetNodeIndex (const compoundCollision : NewtonCollision; node : Pointer) : Integer; cdecl; external NEWTON_API;
  741.  function NewtonCompoundCollisionGetCollisionFromNode (const compoundCollision : NewtonCollision; node : Pointer) : NewtonCollision; cdecl; external NEWTON_API;
  742.  
  743.  
  744.  // **********************************************************************************************
  745.  //
  746.  // Fractured compound collision primitives interface
  747.  //
  748.  // **********************************************************************************************
  749.  
  750.  function NewtonCreateFracturedCompoundCollision (world : NewtonWorld; solidMesh : NewtonMesh; shapeID : Integer;fracturePhysicsMaterialID : Integer; pointcloudCount : Integer; const vertexCloud : PdFloat; strideInBytes : Integer; materialID : Integer; const textureMatrix : PdFloat;
  751.                           regenerateMainMeshCallback : PNewtonFractureCompoundCollisionReconstructMainMeshCallBack; emitFracturedCompound : PNewtonFractureCompoundCollisionOnEmitCompoundFractured; emitFracfuredChunk : PNewtonFractureCompoundCollisionOnEmitChunk) : NewtonCollision; cdecl; external NEWTON_API;
  752.  
  753.  {  NEWTON_API NewtonCollision* NewtonFracturedCompoundPlaneClip (const NewtonCollision* const fracturedCompound, const dFloat* const plane);
  754.  
  755.  
  756.     NEWTON_API void NewtonFracturedCompoundSetCallbacks (const NewtonCollision* const fracturedCompound, NewtonFractureCompoundCollisionReconstructMainMeshCallBack regenerateMainMeshCallback,
  757.                                                          NewtonFractureCompoundCollisionOnEmitCompoundFractured emitFracturedCompound, NewtonFractureCompoundCollisionOnEmitChunk emitFracfuredChunk);
  758.  
  759.  
  760.     NEWTON_API int NewtonFracturedCompoundIsNodeFreeToDetach (const NewtonCollision* const fracturedCompound, void* const collisionNode);
  761.     NEWTON_API int NewtonFracturedCompoundNeighborNodeList (const NewtonCollision* const fracturedCompound, void* const collisionNode, void** const list, int maxCount);
  762.  
  763.  
  764.     NEWTON_API NewtonFracturedCompoundMeshPart* NewtonFracturedCompoundGetMainMesh (const NewtonCollision* const fracturedCompound);
  765.     NEWTON_API NewtonFracturedCompoundMeshPart* NewtonFracturedCompoundGetFirstSubMesh(const NewtonCollision* const fracturedCompound);
  766.     NEWTON_API NewtonFracturedCompoundMeshPart* NewtonFracturedCompoundGetNextSubMesh(const NewtonCollision* const fracturedCompound, NewtonFracturedCompoundMeshPart* const subMesh);
  767.  
  768.     NEWTON_API int NewtonFracturedCompoundCollisionGetVertexCount (const NewtonCollision* const fracturedCompound, const NewtonFracturedCompoundMeshPart* const meshOwner);
  769.     NEWTON_API const dFloat* NewtonFracturedCompoundCollisionGetVertexPositions (const NewtonCollision* const fracturedCompound, const NewtonFracturedCompoundMeshPart* const meshOwner);
  770.     NEWTON_API const dFloat* NewtonFracturedCompoundCollisionGetVertexNormals (const NewtonCollision* const fracturedCompound, const NewtonFracturedCompoundMeshPart* const meshOwner);
  771.     NEWTON_API const dFloat* NewtonFracturedCompoundCollisionGetVertexUVs (const NewtonCollision* const fracturedCompound, const NewtonFracturedCompoundMeshPart* const meshOwner);
  772.     NEWTON_API int NewtonFracturedCompoundMeshPartGetIndexStream (const NewtonCollision* const fracturedCompound, const NewtonFracturedCompoundMeshPart* const meshOwner, const void* const segment, int* const index);
  773.  
  774.     NEWTON_API void* NewtonFracturedCompoundMeshPartGetFirstSegment (const NewtonFracturedCompoundMeshPart* const fractureCompoundMeshPart);
  775.     NEWTON_API void* NewtonFracturedCompoundMeshPartGetNextSegment (const void* const fractureCompoundMeshSegment);
  776.     NEWTON_API int NewtonFracturedCompoundMeshPartGetMaterial (const void* const fractureCompoundMeshSegment);
  777.     NEWTON_API int NewtonFracturedCompoundMeshPartGetIndexCount (const void* const fractureCompoundMeshSegment);
  778.            }
  779.  // **********************************************************************************************
  780.  //
  781.  // scene collision are static compound collision that can take polygonal static collisions
  782.  //
  783.  // **********************************************************************************************
  784.  function NewtonCreateSceneCollision (const world : NewtonWorld; shapeID : Integer) : NewtonCollision; cdecl; external NEWTON_API;
  785.  
  786.  procedure NewtonSceneCollisionBeginAddRemove (sceneCollision : NewtonCollision); cdecl; external NEWTON_API;
  787.  function NewtonSceneCollisionAddSubCollision (sceneCollision : NewtonCollision; collision : NewtonCollision) : Pointer; cdecl; external NEWTON_API;
  788.  procedure NewtonSceneCollisionSetSubCollisionMatrix (sceneCollision : NewtonCollision; node : Pointer; matrix : PdFloat); cdecl; external NEWTON_API;
  789.  procedure NewtonSceneCollisionEndAddRemove (sceneCollision : NewtonCollision); cdecl; external NEWTON_API;
  790.  
  791.  
  792.  function NewtonSceneCollisionGetFirstNode (sceneCollision : NewtonCollision) : Pointer; cdecl; external NEWTON_API;
  793.  function NewtonSceneCollisionGetNextNode (sceneCollision : NewtonCollision; node : Pointer) : Pointer; cdecl; external NEWTON_API;
  794.  
  795.  function NewtonSceneCollisionGetCollisionFromNode (sceneCollision : NewtonCollision; node : Pointer) : NewtonCollision; cdecl; external NEWTON_API;
  796.  
  797.  
  798.  // **********************************************************************************************
  799.  //
  800.  // complex breakable collision primitives interface
  801.  //
  802.  // **********************************************************************************************
  803. (*
  804.  NEWTON_API NewtonCollision* NewtonCreateCompoundBreakable (const world : NewtonWorld; int meshCount,
  805.                   const NewtonMesh** const solids, const int* const shapeIDArray,
  806.                   const dFloat* const densities, const int* const internalFaceMaterial,
  807.                   shapeID : Integer; int debriID, dFloat debriSeparationGap); cdecl; external NEWTON_API;
  808.  
  809.  
  810.  procedure NewtonCompoundBreakableResetAnchoredPieces (const NewtonCollision* const compoundBreakable); cdecl; external NEWTON_API;
  811.  procedure NewtonCompoundBreakableSetAnchoredPieces (const NewtonCollision* const compoundBreakable, int fixShapesCount, matrix : PdFloatPallete, NewtonCollision** const fixedShapesArray); cdecl; external NEWTON_API;
  812.  
  813.  NEWTON_API int NewtonCompoundBreakableGetVertexCount (const NewtonCollision* const compoundBreakable); cdecl; external NEWTON_API;
  814.  procedure NewtonCompoundBreakableGetVertexStreams (const NewtonCollision* const compoundBreakable, int vertexStrideInByte, dFloat* const vertex,
  815.                int normalStrideInByte, dFloat* const normal, int uvStrideInByte, dFloat* const uv); cdecl; external NEWTON_API;
  816.  
  817.  
  818.  NEWTON_API NewtonBreakableComponentMesh* NewtonBreakableGetMainMesh (const NewtonCollision* const compoundBreakable); cdecl; external NEWTON_API;
  819.  NEWTON_API NewtonBreakableComponentMesh* NewtonBreakableGetFirstComponent (const NewtonCollision* const compoundBreakable); cdecl; external NEWTON_API;
  820.  NEWTON_API NewtonBreakableComponentMesh* NewtonBreakableGetNextComponent (const NewtonBreakableComponentMesh* const component); cdecl; external NEWTON_API;
  821.  
  822.  procedure NewtonBreakableBeginDelete (const NewtonCollision* const compoundBreakable); cdecl; external NEWTON_API;
  823.  NEWTON_API NewtonBody* NewtonBreakableCreateDebrieBody (const NewtonCollision* const compoundBreakable, const NewtonBreakableComponentMesh* const component); cdecl; external NEWTON_API;
  824.  procedure NewtonBreakableDeleteComponent (const NewtonCollision* const compoundBreakable, const NewtonBreakableComponentMesh* const component); cdecl; external NEWTON_API;
  825.  procedure NewtonBreakableEndDelete (const NewtonCollision* const compoundBreakable); cdecl; external NEWTON_API;
  826.  
  827.  
  828.  NEWTON_API int NewtonBreakableGetComponentsInRadius (const NewtonCollision* const compoundBreakable, const dFloat* position, radius : dFloat; NewtonBreakableComponentMesh** const segments, int maxCount); cdecl; external NEWTON_API;
  829.  
  830.  NEWTON_API void* NewtonBreakableGetFirstSegment (const NewtonBreakableComponentMesh* const breakableComponent); cdecl; external NEWTON_API;
  831.  NEWTON_API void* NewtonBreakableGetNextSegment (const void* const segment); cdecl; external NEWTON_API;
  832.  
  833.  NEWTON_API int NewtonBreakableSegmentGetMaterial (const void* const segment); cdecl; external NEWTON_API;
  834.  NEWTON_API int NewtonBreakableSegmentGetIndexCount (const void* const segment); cdecl; external NEWTON_API;
  835.  NEWTON_API int NewtonBreakableSegmentGetIndexStream (const NewtonCollision* const compoundBreakable, const NewtonBreakableComponentMesh* const meshOwner, const void* const segment, int* const index); cdecl; external NEWTON_API;
  836.  NEWTON_API int NewtonBreakableSegmentGetIndexStreamShort (const NewtonCollision* const compoundBreakable, const NewtonBreakableComponentMesh* const meshOwner, const void* const segment, short int* const index); cdecl; external NEWTON_API;
  837. *)
  838.  
  839.  function NewtonCreateUserMeshCollision (const world : NewtonWorld; const minBox : PdFloat; const maxBox : PdFloat; userData : Pointer;
  840.                                          collideCallback : PNewtonUserMeshCollisionCollideCallback; rayHitCallback : PNewtonUserMeshCollisionRayHitCallback;
  841.                                          destroyCallback : PNewtonUserMeshCollisionDestroyCallback; getInfoCallback : PNewtonUserMeshCollisionGetCollisionInfo;
  842.                                          getLocalAABBCallback : PNewtonUserMeshCollisionAABBTest; facesInAABBCallback : PNewtonUserMeshCollisionGetFacesInAABB; serializeCallback : PNewtonOnUserCollisionSerializationCallback;
  843.                                          shapeID : Integer) : NewtonCollision; cdecl; external NEWTON_API;
  844.  
  845.  //  ***********************************************************************************************************
  846.  //
  847.  // Collision serialization functions
  848.  //
  849.  // ***********************************************************************************************************
  850.  function NewtonCreateCollisionFromSerialization (const world : NewtonWorld; deserializeFunction : PNewtonDeserializeCallback; Handle : NewtonSerializeHandle) : NewtonCollision; cdecl; external NEWTON_API;
  851.  procedure NewtonCollisionSerialize (const world : NewtonWorld; const collision : NewtonCollision; serializeFunction : PNewtonSerializeCallback; Handle : NewtonSerializeHandle); cdecl; external NEWTON_API;
  852.  procedure NewtonCollisionGetInfo (const collision : NewtonCollision; collisionInfo : PNewtonCollisionInfoRecord); cdecl; external NEWTON_API;
  853.  
  854.  // **********************************************************************************************
  855.  //
  856.  // Static collision shapes functions
  857.  //
  858.  // **********************************************************************************************
  859.  function NewtonCreateHeightFieldCollision (const world : NewtonWorld; width : Integer; height : Integer; gridsDiagonals : Integer;
  860.                                             const elevationMap : PdFloat; const attributeMap : PShortInt; horizontalScale : dFloat; shapeID : Integer) : NewtonCollision; cdecl; external NEWTON_API;
  861.  procedure NewtonHeightFieldSetUserRayCastCallback (const heightfieldCollision : NewtonCollision; rayHitCallback : PNewtonHeightFieldRayCastCallback); cdecl; external NEWTON_API;
  862.  
  863.  
  864.  function NewtonCreateTreeCollision (const world : NewtonWorld; shapeID : Integer) : NewtonCollision; cdecl; external NEWTON_API;
  865.  function NewtonCreateTreeCollisionFromMesh (const world : NewtonWorld; const mesh : NewtonMesh; shapeID : Integer) : NewtonCollision; cdecl; external NEWTON_API;
  866.  
  867.  procedure NewtonTreeCollisionSetUserRayCastCallback (const treeCollision : NewtonCollision; rayHitCallback : PNewtonCollisionTreeRayCastCallback); cdecl; external NEWTON_API;
  868.  
  869.  procedure NewtonTreeCollisionBeginBuild (const treeCollision : NewtonCollision); cdecl; external NEWTON_API;
  870.  procedure NewtonTreeCollisionAddFace (const treeCollision : NewtonCollision; vertexCount : Integer; const vertexPtr : PdFloat; strideInBytes : Integer; faceAttribute : Integer); cdecl; external NEWTON_API;
  871.  procedure NewtonTreeCollisionEndBuild (const treeCollision : NewtonCollision; optimize : Integer); cdecl; external NEWTON_API;
  872.  
  873.  function NewtonTreeCollisionGetFaceAtribute (const treeCollision : NewtonCollision; const faceIndexArray : PInteger; indexCount : Integer) : Integer; cdecl; external NEWTON_API;
  874.  procedure NewtonTreeCollisionSetFaceAtribute (const treeCollision : NewtonCollision; const faceIndexArray : PInteger; indexCount : Integer; attribute : Integer); cdecl; external NEWTON_API;
  875.  function NewtonTreeCollisionGetVertexListIndexListInAABB (const treeCollision : NewtonCollision; const p0 : PdFloat; const p1 : PdFloat; const vertexArray : PdFloat; vertexCount : PInteger;
  876.                                                                  vertexStrideInBytes : PInteger; const indexList : PInteger; maxIndexCount : Integer; const faceAttribute : PInteger) : Integer; cdecl; external NEWTON_API;
  877.  
  878.  
  879.  procedure NewtonStaticCollisionSetDebugCallback (const staticCollision : NewtonCollision; userCallback : PNewtonTreeCollisionCallback); cdecl; external NEWTON_API;
  880.  
  881.  // **********************************************************************************************
  882.  //
  883.  // General purpose collision library functions
  884.  //
  885.  // **********************************************************************************************
  886.  
  887.  function NewtonCollisionCreateInstance (const collision : NewtonCollision) : NewtonCollision; cdecl; external NEWTON_API;
  888.  function NewtonCollisionGetType (const collision : NewtonCollision) : Integer; cdecl; external NEWTON_API;
  889.  
  890.  procedure NewtonCollisionSetUserData (const collision : NewtonCollision; userData : Pointer); cdecl; external NEWTON_API;
  891.  function NewtonCollisionGetUserData (const collision : NewtonCollision) : Pointer; cdecl; external NEWTON_API;
  892.  
  893.  procedure NewtonCollisionSetUserID (const collision : NewtonCollision; id : Cardinal); cdecl; external NEWTON_API;
  894.  function NewtonCollisionGetUserID (const collision : NewtonCollision) : Cardinal; cdecl; external NEWTON_API;
  895.  
  896.  procedure NewtonCollisionSetMatrix (const collision : NewtonCollision; const matrix : PdFloat); cdecl; external NEWTON_API;
  897.  procedure NewtonCollisionGetMatrix (const collision : NewtonCollision; matrix : PdFloat); cdecl; external NEWTON_API;
  898.  
  899.  procedure NewtonCollisionSetScale (const collision : NewtonCollision; scaleX : dFloat; scaleY : dFloat; scaleZ : dFloat); cdecl; external NEWTON_API;
  900.  procedure NewtonCollisionGetScale (const collision : NewtonCollision; scaleX : dFloat; scaleY : dFloat; scaleZ : dFloat); cdecl; external NEWTON_API;
  901.  procedure NewtonDestroyCollision (const collision : NewtonCollision); cdecl; external NEWTON_API;
  902.  
  903.  
  904.  
  905.  function NewtonCollisionPointDistance (const world : NewtonWorld; const point : PdFloat; const collision : NewtonCollision; const matrix : PdFloat;
  906.                                         contact : PdFloat; normal : PdFloat; threadIndex : Integer) : Integer; cdecl; external NEWTON_API;
  907.  
  908.  function NewtonCollisionClosestPoint (const world : NewtonWorld;
  909.                                        const collisionA : NewtonCollision; const matrixA : PdFloat; const collisionB : NewtonCollision; const matrixB : PdFloat;
  910.                                        contactA : PdFloat; contactB : PdFloat; normalAB : PdFloat; threadIndex : Integer) : Integer; cdecl; external NEWTON_API;
  911.  
  912.  function NewtonCollisionCollide (const world : NewtonWorld; maxSize : Integer; const collisionA : NewtonCollision; const matrixA : PdFloat;
  913.                                   const collisionB : NewtonCollision; const matrixB : PdFloat; contacts : PdFloat; normals : PdFloat;
  914.                                   penetration : PdFloat; attribute : PInteger; threadIndex : Integer) : Integer; cdecl; external NEWTON_API;
  915.  
  916.  function NewtonCollisionCollideContinue (const world : NewtonWorld; maxSize : Integer; const timestep : dFloat; const collisionA : NewtonCollision;
  917.                                           const matrixA : PdFloat; const velocA : PdFloat; const omegaA : PdFloat; const collisionB : NewtonCollision;
  918.                                           const matrixB : PdFloat; const velocB : PdFloat; const omegaB : PdFloat; timeOfImpact : PdFloat; contacts : PdFloat;
  919.                                           normals : PdFloat; penetration : PdFloat; threadIndex : Integer) : Integer; cdecl; external NEWTON_API;
  920.  
  921.  procedure NewtonCollisionSupportVertex (const collision : NewtonCollision; const dir : PdFloat; vertex : PdFloat); cdecl; external NEWTON_API;
  922.  function NewtonCollisionRayCast (const collision : NewtonCollision; const p0 : PdFloat; const p1 : PdFloat; normal : PdFloat; attribute : PInteger) : dFloat; cdecl; external NEWTON_API;
  923.  procedure NewtonCollisionCalculateAABB (const collision : NewtonCollision; const matrix : PdFloat; p0 : PdFloat; p1 : PdFloat); cdecl; external NEWTON_API;
  924.  procedure NewtonCollisionForEachPolygonDo (const collision : NewtonCollision; const matrix : PdFloat; callback : PNewtonCollisionIterator; userData : Pointer); cdecl; external NEWTON_API;
  925.  
  926.  
  927.  
  928.  // **********************************************************************************************
  929.  //
  930.  // transforms utility functions
  931.  //
  932.  // **********************************************************************************************
  933.  procedure NewtonGetEulerAngle (const matrix : PdFloat; eulersAngles : PdFloat); cdecl; external NEWTON_API;
  934.  procedure NewtonSetEulerAngle (const eulersAngles : PdFloat; matrix : PdFloat); cdecl; external NEWTON_API;
  935.  function NewtonCalculateSpringDamperAcceleration (dt : dFloat; ks : dFloat; x : dFloat; kd : dFloat; s : dFloat) : dFloat; cdecl; external NEWTON_API;
  936.  
  937.  // **********************************************************************************************
  938.  //
  939.  // body manipulation functions
  940.  //
  941.  // **********************************************************************************************
  942.  function  NewtonCreateDynamicBody (const world : NewtonWorld; const collision : NewtonCollision; const matrix : PdFloat) : NewtonBody; cdecl; external NEWTON_API;
  943.  function  NewtonCreateKinematicBody (const world : NewtonWorld; const collision : NewtonCollision; const matrix : PdFloat) : NewtonBody; cdecl; external NEWTON_API;
  944.  
  945.  procedure NewtonDestroyBody (const body : NewtonBody); cdecl; external NEWTON_API;
  946.  
  947.  function  NewtonBodyGetType (const body : NewtonBody) : Integer; cdecl; external NEWTON_API;
  948.  
  949.  procedure NewtonBodyAddForce (const body : NewtonBody; const force : PdFloat); cdecl; external NEWTON_API;
  950.  procedure NewtonBodyAddTorque (const body : NewtonBody; const torque : PdFloat); cdecl; external NEWTON_API;
  951.  procedure NewtonBodyCalculateInverseDynamicsForce (const body : NewtonBody; timestep : dFloat; const desiredVeloc : PdFloat; forceOut : PdFloat); cdecl; external NEWTON_API;
  952.  
  953.  procedure NewtonBodySetCentreOfMass (const body : NewtonBody; const com : PdFloat); cdecl; external NEWTON_API;
  954.  procedure NewtonBodySetMassMatrix (const body : NewtonBody; mass : dFloat; Ixx : dFloat; Iyy : dFloat; Izz : dFloat); cdecl; external NEWTON_API;
  955.  
  956.  procedure NewtonBodySetMassProperties (const body : NewtonBody; mass : dFloat; const collision : NewtonCollision); cdecl; external NEWTON_API;
  957.  procedure NewtonBodySetMatrix (const body : NewtonBody; const matrix : PdFloat); cdecl; external NEWTON_API;
  958.  procedure NewtonBodySetMatrixRecursive (const body : NewtonBody; const matrix : PdFloat); cdecl; external NEWTON_API;
  959.  
  960.  procedure NewtonBodySetMaterialGroupID (const body : NewtonBody; id : Integer); cdecl; external NEWTON_API;
  961.  procedure NewtonBodySetContinuousCollisionMode (const body : NewtonBody; state : Cardinal); cdecl; external NEWTON_API;
  962.  procedure NewtonBodySetJointRecursiveCollision (const body : NewtonBody; state : Cardinal); cdecl; external NEWTON_API;
  963.  procedure NewtonBodySetOmega (const body : NewtonBody; const omega : PdFloat); cdecl; external NEWTON_API;
  964.  procedure NewtonBodySetVelocity (const body : NewtonBody; const velocity : PdFloat); cdecl; external NEWTON_API;
  965.  procedure NewtonBodySetForce (const body : NewtonBody; const force : PdFloat); cdecl; external NEWTON_API;
  966.  procedure NewtonBodySetTorque (const body : NewtonBody; const torque : PdFloat); cdecl; external NEWTON_API;
  967.  
  968.  procedure NewtonBodySetLinearDamping (const body : NewtonBody; linearDamp : dFloat); cdecl; external NEWTON_API;
  969.  procedure NewtonBodySetAngularDamping (const body : NewtonBody; const angularDamp : PdFloat); cdecl; external NEWTON_API;
  970.  procedure NewtonBodySetCollision (const body : NewtonBody; const collision : NewtonCollision); cdecl; external NEWTON_API;
  971.  procedure NewtonBodySetCollisionScale (const body : NewtonBody; scaleX : dFloat; scaleY : dFloat; scaleZ : dFloat); cdecl; external NEWTON_API;
  972.  
  973.  function  NewtonBodyGetSleepState (const body : NewtonBody) : Integer; cdecl; external NEWTON_API;
  974.  procedure NewtonBodySetSleepState (const body : NewtonBody; state : Integer); cdecl; external NEWTON_API;
  975.  
  976.  function  NewtonBodyGetAutoSleep (const body : NewtonBody) : Integer; cdecl; external NEWTON_API;
  977.  procedure NewtonBodySetAutoSleep (const body : NewtonBody; state : Integer); cdecl; external NEWTON_API;
  978.  
  979.  function  NewtonBodyGetFreezeState(const body : NewtonBody) : Integer; cdecl; external NEWTON_API;
  980.  procedure NewtonBodySetFreezeState (const body : NewtonBody; state : Integer); cdecl; external NEWTON_API;
  981.  
  982.  
  983. // procedure NewtonBodySetAutoFreeze(const body : NewtonBody; state : Integer);
  984. // procedure NewtonBodyCoriolisForcesMode (const body : NewtonBody; int mode);
  985. // procedure NewtonBodySetGyroscopicForcesMode (const body : NewtonBody; int mode);
  986. // NEWTON_API int  NewtonBodyGetGyroscopicForcesMode (const body : NewtonBody);
  987. // NEWTON_API int  NewtonBodyGetFreezeState (const body : NewtonBody);
  988. // procedure NewtonBodySetFreezeState  (const body : NewtonBody; state : Integer);
  989. // procedure NewtonBodyGetFreezeTreshold (const body : NewtonBody; dFloat* freezeSpeed2, dFloat* freezeOmega2);
  990. // procedure NewtonBodySetFreezeTreshold (const body : NewtonBody; dFloat freezeSpeed2, dFloat freezeOmega2, int framesCount);
  991. // procedure NewtonBodySetAutoactiveCallback (const body : NewtonBody; NewtonBodyActivationState callback);
  992.  
  993.  
  994.  procedure NewtonBodySetDestructorCallback (const body : NewtonBody; callback : PNewtonBodyDestructor); cdecl; external NEWTON_API;
  995.  function NewtonBodyGetDestructorCallback (const body : NewtonBody) : PNewtonBodyDestructor; cdecl; external NEWTON_API;
  996.  
  997.  procedure NewtonBodySetTransformCallback (const body : NewtonBody; callback : PNewtonSetTransform); cdecl; external NEWTON_API;
  998.  function NewtonBodyGetTransformCallback (const body : NewtonBody) : PNewtonSetTransform; cdecl; external NEWTON_API;
  999.  
  1000.  procedure NewtonBodySetForceAndTorqueCallback (const body : NewtonBody; callback : PNewtonApplyForceAndTorque); cdecl; external NEWTON_API;
  1001.  function NewtonBodyGetForceAndTorqueCallback (const body : NewtonBody) : PNewtonApplyForceAndTorque; cdecl; external NEWTON_API;
  1002.  
  1003.  function NewtonBodyGetID (const body : NewtonBody) : Integer; cdecl; external NEWTON_API;
  1004.  
  1005.  procedure NewtonBodySetUserData (const body : NewtonBody; userData : Pointer); cdecl; external NEWTON_API;
  1006.  function NewtonBodyGetUserData (const body : NewtonBody) : Pointer; cdecl; external NEWTON_API;
  1007.  
  1008.  function NewtonBodyGetWorld (const body : NewtonBody) : NewtonWorld; cdecl; external NEWTON_API;
  1009.  function NewtonBodyGetCollision (const body : NewtonBody) : NewtonCollision; cdecl; external NEWTON_API;
  1010.  function NewtonBodyGetMaterialGroupID (const body : NewtonBody) : Integer; cdecl; external NEWTON_API;
  1011.  
  1012.  function NewtonBodyGetContinuousCollisionMode (const body : NewtonBody) : Integer; cdecl; external NEWTON_API;
  1013.  function NewtonBodyGetJointRecursiveCollision (const body : NewtonBody) : Integer; cdecl; external NEWTON_API;
  1014.  
  1015.  procedure  NewtonBodyGetMatrix(const body : NewtonBody; matrix : PdFloat); cdecl; external NEWTON_API;
  1016.  procedure  NewtonBodyGetRotation(const body : NewtonBody; rotation : PdFloat); cdecl; external NEWTON_API;
  1017.  procedure  NewtonBodyGetMassMatrix (const body : NewtonBody; mass : PdFloat; Ixx : PdFloat; Iyy : PdFloat; Izz : PdFloat); cdecl; external NEWTON_API;
  1018.  procedure  NewtonBodyGetInvMass(const body : NewtonBody; invMass : PdFloat; invIxx : PdFloat; invIyy : PdFloat; invIzz : PdFloat); cdecl; external NEWTON_API;
  1019.  procedure  NewtonBodyGetInertiaMatrix(const body : NewtonBody; inertiaMatrix : PdFloat); cdecl; external NEWTON_API;
  1020.  procedure  NewtonBodyGetInvInertiaMatrix(const body : NewtonBody; invInertiaMatrix : PdFloat); cdecl; external NEWTON_API;
  1021.  procedure  NewtonBodyGetOmega(const body : NewtonBody; vector : PdFloat); cdecl; external NEWTON_API;
  1022.  procedure  NewtonBodyGetVelocity(const body : NewtonBody; vector : PdFloat); cdecl; external NEWTON_API;
  1023.  procedure  NewtonBodyGetForce(const body : NewtonBody; vector : PdFloat); cdecl; external NEWTON_API;
  1024.  procedure  NewtonBodyGetTorque(const body : NewtonBody; vector : PdFloat); cdecl; external NEWTON_API;
  1025.  procedure  NewtonBodyGetForceAcc(const body : NewtonBody; vector : PdFloat); cdecl; external NEWTON_API;
  1026.  procedure  NewtonBodyGetTorqueAcc(const body : NewtonBody; vector : PdFloat); cdecl; external NEWTON_API;
  1027.  procedure  NewtonBodyGetCentreOfMass (const body : NewtonBody; com : PdFloat); cdecl; external NEWTON_API;
  1028.  
  1029.  procedure NewtonBodyGetPointVelocity (const body : NewtonBody; const point : PdFloat; velocOut : PdFloat); cdecl; external NEWTON_API;
  1030.  procedure NewtonBodyAddImpulse (const body : NewtonBody; const pointDeltaVeloc : PdFloat; const pointPosit : PdFloat); cdecl; external NEWTON_API;
  1031.  procedure NewtonBodyApplyImpulseArray (const body : NewtonBody; impuleCount : Integer; strideinBytes : Integer; const impulseArray : PdFloat; const pointArray : PdFloat); cdecl; external NEWTON_API;
  1032.  
  1033.  procedure NewtonBodyApplyImpulsePair (const body : NewtonBody; linearImpulse : PdFloat; angularImpulse : PdFloat); cdecl; external NEWTON_API;
  1034.  
  1035.  procedure NewtonBodyIntegrateVelocity (const body : NewtonBody; timestep : dFloat); cdecl; external NEWTON_API;
  1036.  
  1037.  function NewtonBodyGetLinearDamping (const body : NewtonBody) : dFloat; cdecl; external NEWTON_API;
  1038.  procedure  NewtonBodyGetAngularDamping (const body : NewtonBody; vector : PdFloat); cdecl; external NEWTON_API;
  1039.  procedure  NewtonBodyGetAABB (const body : NewtonBody; p0 : PdFloat; p1 : PdFloat); cdecl; external NEWTON_API;
  1040.  
  1041.  function NewtonBodyGetFirstJoint (const body : NewtonBody) : NewtonJoint; cdecl; external NEWTON_API;
  1042.  function NewtonBodyGetNextJoint (const body : NewtonBody; const joint : NewtonJoint) : NewtonJoint; cdecl; external NEWTON_API;
  1043.  function NewtonBodyGetFirstContactJoint (const body : NewtonBody) : NewtonJoint; cdecl; external NEWTON_API;
  1044.  function NewtonBodyGetNextContactJoint (const body : NewtonBody; const contactJoint : NewtonJoint) : NewtonJoint; cdecl; external NEWTON_API;
  1045.  
  1046.  // **********************************************************************************************
  1047.  //
  1048.  // contact joints interface
  1049.  //
  1050.  // **********************************************************************************************
  1051.  
  1052.  function NewtonContactJointGetFirstContact (const contactJoint : NewtonJoint) : Pointer; cdecl; external NEWTON_API;
  1053.  function NewtonContactJointGetNextContact (const contactJoint : NewtonJoint; contact : Pointer) : Pointer; cdecl; external NEWTON_API;
  1054.  
  1055.  function NewtonContactJointGetContactCount(const contactJoint : NewtonJoint) : Integer; cdecl; external NEWTON_API;
  1056.  procedure NewtonContactJointRemoveContact(const contactJoint : NewtonJoint; contact : Pointer); cdecl; external NEWTON_API;
  1057.  
  1058.  function NewtonContactGetMaterial (const contact : Pointer) : NewtonMaterial; cdecl; external NEWTON_API;
  1059.  
  1060.  
  1061.  // **********************************************************************************************
  1062.  //
  1063.  // Common joint functions
  1064.  //
  1065.  // **********************************************************************************************
  1066.  function NewtonJointGetUserData (const joint : NewtonJoint) : Pointer; cdecl; external NEWTON_API;
  1067.  procedure NewtonJointSetUserData (const joint : NewtonJoint; userData : Pointer); cdecl; external NEWTON_API;
  1068.  
  1069.  function NewtonJointGetBody0 (const joint : NewtonJoint) : NewtonBody; cdecl; external NEWTON_API;
  1070.  function NewtonJointGetBody1 (const joint : NewtonJoint) : NewtonBody; cdecl; external NEWTON_API;
  1071.  
  1072.  procedure NewtonJointGetInfo (const joint : NewtonJoint; info : PNewtonJointRecord); cdecl; external NEWTON_API;
  1073.  function NewtonJointGetCollisionState (const joint : NewtonJoint) : Integer; cdecl; external NEWTON_API;
  1074.  procedure NewtonJointSetCollisionState (const joint : NewtonJoint; state : Integer); cdecl; external NEWTON_API;
  1075.  
  1076.  function NewtonJointGetStiffness (const joint : NewtonJoint) : dFloat; cdecl; external NEWTON_API;
  1077.  procedure NewtonJointSetStiffness (const joint : NewtonJoint; state : dFloat); cdecl; external NEWTON_API;
  1078.  
  1079.  procedure NewtonDestroyJoint(const world : NewtonWorld; const joint : NewtonJoint); cdecl; external NEWTON_API;
  1080.  procedure NewtonJointSetDestructor (const joint : NewtonJoint; callback : PNewtonConstraintDestructor); cdecl; external NEWTON_API;
  1081.  
  1082.  
  1083.  
  1084.  // **********************************************************************************************
  1085.  //
  1086.  // particle system interface (soft bodies, individual, pressure bodies and cloth)
  1087.  //
  1088.  // **********************************************************************************************
  1089.  function NewtonCreateDeformableMesh (const world : NewtonWorld; mesh : NewtonMesh; shapeID : Integer) : NewtonCollision; cdecl; external NEWTON_API;
  1090.  
  1091.  procedure NewtonDeformableMeshSetPlasticity (deformableMesh : NewtonCollision; plasticity : dFloat); cdecl; external NEWTON_API;
  1092.  procedure NewtonDeformableMeshSetStiffness (deformableMesh : NewtonCollision; stiffness : dFloat); cdecl; external NEWTON_API;
  1093.  procedure NewtonDeformableMeshSetSkinThickness (deformableMesh : NewtonCollision; skinThickness : dFloat); cdecl; external NEWTON_API;
  1094.  
  1095.  function NewtonCreateDeformableBody (const world : NewtonWorld; const deformableMesh : NewtonCollision; const matrix : PdFloat) : NewtonBody; cdecl; external NEWTON_API;
  1096.  
  1097.  
  1098.  procedure NewtonDeformableMeshUpdateRenderNormals (const deformableMesh : NewtonCollision); cdecl; external NEWTON_API;
  1099.  function NewtonDeformableMeshGetVertexCount (const deformableMesh : NewtonCollision) : Integer; cdecl; external NEWTON_API;
  1100.  procedure NewtonDeformableMeshGetVertexStreams (const deformableMesh : NewtonCollision;
  1101.                                                  vertexStrideInBytes : Integer; vertex : PdFloat;
  1102.                                                  normalStrideInBytes : Integer; normal : PdFloat;
  1103.                                                  uvStrideInBytes0 : Integer; uv0 : PdFloat;
  1104.                                                  uvStrideInBytes1 : Integer; uv1 : PdFloat); cdecl; external NEWTON_API;
  1105.  function NewtonDeformableMeshGetFirstSegment (const deformableMesh : NewtonCollision) : NewtonDeformableMeshSegment; cdecl; external NEWTON_API;
  1106.  function NewtonDeformableMeshGetNextSegment (const deformableMesh : NewtonCollision; const segment : NewtonDeformableMeshSegment) : NewtonDeformableMeshSegment; cdecl; external NEWTON_API;
  1107.  
  1108.  function NewtonDeformableMeshSegmentGetMaterialID (const deformableMesh : NewtonCollision; const segment : NewtonDeformableMeshSegment) : Integer; cdecl; external NEWTON_API;
  1109.  function NewtonDeformableMeshSegmentGetIndexCount (const deformableMesh : NewtonCollision; const segment : NewtonDeformableMeshSegment) : Integer; cdecl; external NEWTON_API;
  1110.  function NewtonDeformableMeshSegmentGetIndexList (const deformableMesh : NewtonCollision; const segment : NewtonDeformableMeshSegment) : PSmallInt; cdecl; external NEWTON_API;
  1111.  
  1112.  
  1113.  
  1114.  
  1115.  // **********************************************************************************************
  1116.  //
  1117.  // Ball and Socket joint functions
  1118.  //
  1119.  // **********************************************************************************************
  1120.  function NewtonConstraintCreateBall (const world : NewtonWorld; const pivotPoint : PdFloat;
  1121.                                       const childBody : NewtonBody; const parentBody : NewtonBody) : NewtonJoint; cdecl; external NEWTON_API;
  1122.  procedure NewtonBallSetUserCallback (const ball : NewtonJoint; callback : PNewtonBallCallback); cdecl; external NEWTON_API;
  1123.  procedure NewtonBallGetJointAngle (const ball : NewtonJoint; angle : PdFloat); cdecl; external NEWTON_API;
  1124.  procedure NewtonBallGetJointOmega (const ball : NewtonJoint; omega : PdFloat); cdecl; external NEWTON_API;
  1125.  procedure NewtonBallGetJointForce (const ball : NewtonJoint; force : PdFloat); cdecl; external NEWTON_API;
  1126.  procedure NewtonBallSetConeLimits (const ball : NewtonJoint; const pin : PdFloat; maxConeAngle : dFloat; maxTwistAngle : dFloat); cdecl; external NEWTON_API;
  1127.  
  1128.  // **********************************************************************************************
  1129.  //
  1130.  // Hinge joint functions
  1131.  //
  1132.  // **********************************************************************************************
  1133.  function NewtonConstraintCreateHinge (const world : NewtonWorld; const pivotPoint : PdFloat; const pinDir : PdFloat;
  1134.                                        const childBody : NewtonBody; const parentBody : NewtonBody) : NewtonJoint; cdecl; external NEWTON_API;
  1135.  
  1136.  procedure NewtonHingeSetUserCallback (const hinge : NewtonJoint; callback : PNewtonHingeCallback); cdecl; external NEWTON_API;
  1137.  function NewtonHingeGetJointAngle (const hinge : NewtonJoint) : dFloat; cdecl; external NEWTON_API;
  1138.  function NewtonHingeGetJointOmega (const hinge : NewtonJoint) : dFloat; cdecl; external NEWTON_API;
  1139.  procedure NewtonHingeGetJointForce (const hinge : NewtonJoint; force : PdFloat); cdecl; external NEWTON_API;
  1140.  function NewtonHingeCalculateStopAlpha (const hinge : NewtonJoint; const desc : PNewtonHingeSliderUpdateDesc; angle : dFloat) : dFloat; cdecl; external NEWTON_API;
  1141.  
  1142.  // **********************************************************************************************
  1143.  //
  1144.  // Slider joint functions
  1145.  //
  1146.  // **********************************************************************************************
  1147.  function NewtonConstraintCreateSlider (const world : NewtonWorld; const pivotPoint : PdFloat; const pinDir : PdFloat;
  1148.                                         const childBody : NewtonBody; const parentBody : NewtonBody) : NewtonJoint; cdecl; external NEWTON_API;
  1149.  procedure NewtonSliderSetUserCallback (const slider : NewtonJoint; callback : PNewtonSliderCallback); cdecl; external NEWTON_API;
  1150.  function NewtonSliderGetJointPosit (const slider : NewtonJoint) : dFloat; cdecl; external NEWTON_API;
  1151.  function NewtonSliderGetJointVeloc (const slider : NewtonJoint) : dFloat; cdecl; external NEWTON_API;
  1152.  procedure NewtonSliderGetJointForce (const slider : NewtonJoint; force : PdFloat); cdecl; external NEWTON_API;
  1153.  function NewtonSliderCalculateStopAccel (const slider : NewtonJoint; const desc : PNewtonHingeSliderUpdateDesc; position : dFloat) : dFloat; cdecl; external NEWTON_API;
  1154.  
  1155.  
  1156.  // **********************************************************************************************
  1157.  //
  1158.  // Corkscrew joint functions
  1159.  //
  1160.  // **********************************************************************************************
  1161.  function NewtonConstraintCreateCorkscrew (const world : NewtonWorld; const pivotPoint : PdFloat; const pinDir : PdFloat;
  1162.                                            const childBody : NewtonBody; const parentBody : NewtonBody) : NewtonJoint; cdecl; external NEWTON_API;
  1163.  procedure NewtonCorkscrewSetUserCallback (const corkscrew : NewtonJoint; callback : PNewtonCorkscrewCallback); cdecl; external NEWTON_API;
  1164.  function NewtonCorkscrewGetJointPosit (const corkscrew : NewtonJoint) : dFloat; cdecl; external NEWTON_API;
  1165.  function NewtonCorkscrewGetJointAngle (const corkscrew : NewtonJoint) : dFloat; cdecl; external NEWTON_API;
  1166.  function NewtonCorkscrewGetJointVeloc (const corkscrew : NewtonJoint) : dFloat; cdecl; external NEWTON_API;
  1167.  function NewtonCorkscrewGetJointOmega (const corkscrew : NewtonJoint) : dFloat; cdecl; external NEWTON_API;
  1168.  procedure NewtonCorkscrewGetJointForce (const corkscrew : NewtonJoint; force: PdFloat); cdecl; external NEWTON_API;
  1169.  function NewtonCorkscrewCalculateStopAlpha (const corkscrew : NewtonJoint; const desc : PNewtonHingeSliderUpdateDesc; angle: dFloat) : dFloat; cdecl; external NEWTON_API;
  1170.  function NewtonCorkscrewCalculateStopAccel (const corkscrew : NewtonJoint; const desc : PNewtonHingeSliderUpdateDesc; position: dFloat) : dFloat; cdecl; external NEWTON_API;
  1171.  
  1172.  
  1173.  // **********************************************************************************************
  1174.  //
  1175.  // Universal joint functions
  1176.  //
  1177.  // **********************************************************************************************
  1178.  function NewtonConstraintCreateUniversal (const world : NewtonWorld; const pivotPoint : PdFloat; const pinDir0 : PdFloat; const pinDir1 : PdFloat;
  1179.                                            const childBody : NewtonBody; const parentBody : NewtonBody) : NewtonJoint; cdecl; external NEWTON_API;
  1180.  procedure NewtonUniversalSetUserCallback (const universal : NewtonJoint; callback : PNewtonUniversalCallback); cdecl; external NEWTON_API;
  1181.  function NewtonUniversalGetJointAngle0 (const universal : NewtonJoint): dFloat; cdecl; external NEWTON_API;
  1182.  function NewtonUniversalGetJointAngle1 (const universal : NewtonJoint): dFloat; cdecl; external NEWTON_API;
  1183.  function NewtonUniversalGetJointOmega0 (const universal : NewtonJoint): dFloat; cdecl; external NEWTON_API;
  1184.  function NewtonUniversalGetJointOmega1 (const universal : NewtonJoint): dFloat; cdecl; external NEWTON_API;
  1185.  procedure NewtonUniversalGetJointForce (const universal : NewtonJoint; force : PdFloat); cdecl; external NEWTON_API;
  1186.  function NewtonUniversalCalculateStopAlpha0 (const universal : NewtonJoint; const desc : PNewtonHingeSliderUpdateDesc; angle : dFloat) : dFloat; cdecl; external NEWTON_API;
  1187.  function NewtonUniversalCalculateStopAlpha1 (const universal : NewtonJoint; const desc : PNewtonHingeSliderUpdateDesc; angle : dFloat) : dFloat; cdecl; external NEWTON_API;
  1188.  
  1189.  
  1190.  // **********************************************************************************************
  1191.  //
  1192.  // Up vector joint functions
  1193.  //
  1194.  // **********************************************************************************************
  1195.  function NewtonConstraintCreateUpVector (const world : NewtonWorld; const pinDir : PdFloat; const body : NewtonBody) : NewtonJoint; cdecl; external NEWTON_API;
  1196.  procedure NewtonUpVectorGetPin (const upVector : NewtonJoint; pin : PdFloat); cdecl; external NEWTON_API;
  1197.  procedure NewtonUpVectorSetPin (const upVector : NewtonJoint; const pin : PdFloat); cdecl; external NEWTON_API;
  1198.  
  1199.  
  1200.  // **********************************************************************************************
  1201.  //
  1202.  // User defined bilateral Joint
  1203.  //
  1204.  // **********************************************************************************************
  1205.  function NewtonConstraintCreateUserJoint (const world : NewtonWorld; maxDOF : Integer; callback : PNewtonUserBilateralCallback;
  1206.                                            getInfo : PNewtonUserBilateralGetInfoCallback; const childBody : NewtonBody;
  1207.                                            const parentBody : NewtonBody) : NewtonJoint; cdecl; external NEWTON_API;
  1208.  procedure NewtonUserJointSetFeedbackCollectorCallback (const joint : NewtonJoint; getFeedback : PNewtonUserBilateralCallback); cdecl; external NEWTON_API;
  1209.  procedure NewtonUserJointAddLinearRow (const joint : NewtonJoint; const pivot0 : PdFloat; const pivot1 : PdFloat; const dir : PdFloat); cdecl; external NEWTON_API;
  1210.  procedure NewtonUserJointAddAngularRow (const joint : NewtonJoint; relativeAngle : dFloat; const dir : PdFloat); cdecl; external NEWTON_API;
  1211.  procedure NewtonUserJointAddGeneralRow (const joint : NewtonJoint; const jacobian0 : PdFloat; const jacobian1 : PdFloat); cdecl; external NEWTON_API;
  1212.  procedure NewtonUserJointSetRowMinimumFriction (const joint : NewtonJoint; friction : dFloat); cdecl; external NEWTON_API;
  1213.  procedure NewtonUserJointSetRowMaximumFriction (const joint : NewtonJoint; friction : dFloat); cdecl; external NEWTON_API;
  1214.  procedure NewtonUserJointSetRowAcceleration (const joint : NewtonJoint; acceleration : dFloat); cdecl; external NEWTON_API;
  1215.  procedure NewtonUserJointSetRowSpringDamperAcceleration (const joint : NewtonJoint; springK : dFloat; springD : dFloat); cdecl; external NEWTON_API;
  1216.  procedure NewtonUserJointSetRowStiffness (const joint : NewtonJoint; stiffness : dFloat); cdecl; external NEWTON_API;
  1217.  function NewtonUserJointGetRowForce (const joint : NewtonJoint; row : Integer) : dFloat; cdecl; external NEWTON_API;
  1218.  
  1219.  procedure NewtonUserJointSetSolver (const joint : NewtonJoint; solver : Integer; maxContactJoints : Integer); cdecl; external NEWTON_API;
  1220.  
  1221.  
  1222.  // **********************************************************************************************
  1223.  //
  1224.  // Mesh joint functions
  1225.  //
  1226.  // **********************************************************************************************
  1227.  function NewtonMeshCreate(const world : NewtonWorld) : NewtonMesh; cdecl; external NEWTON_API;
  1228.  function NewtonMeshCreateFromMesh(const mesh : NewtonMesh) : NewtonMesh; cdecl; external NEWTON_API;
  1229.  function NewtonMeshCreateFromCollision(const collision : NewtonCollision) : NewtonMesh; cdecl; external NEWTON_API;
  1230.  function NewtonMeshCreateConvexHull (const world : NewtonWorld; pointCount : Integer; const vertexCloud : PdFloat; strideInBytes : Integer; tolerance : dFloat) : NewtonMesh; cdecl; external NEWTON_API;
  1231.  function NewtonMeshCreateDelaunayTetrahedralization (const world : NewtonWorld; pointCount : Integer; const vertexCloud : PdFloat; strideInBytes : Integer; materialID : Integer; const textureMatrix : PdFloat) : NewtonMesh; cdecl; external NEWTON_API;
  1232.  function NewtonMeshCreateVoronoiConvexDecomposition (const world : NewtonWorld; pointCount : Integer; const vertexCloud : PdFloat; strideInBytes : Integer; materialID : Integer; const textureMatrix : PdFloat; boderConvexSize : dFloat) : NewtonMesh; cdecl; external NEWTON_API;
  1233.  
  1234.  procedure NewtonMeshDestroy(const mesh : NewtonMesh); cdecl; external NEWTON_API;
  1235.  
  1236.  procedure NewtonMeshSaveOFF(const mesh : NewtonMesh; const filename : PChar); cdecl; external NEWTON_API;
  1237.  function NewtonMeshLoadOFF(const world : NewtonWorld; const filename : PChar) : NewtonMesh; cdecl; external NEWTON_API;
  1238.  
  1239.  procedure NewtonMesApplyTransform (const mesh : NewtonMesh; const matrix : PdFloat); cdecl; external NEWTON_API;
  1240.  procedure NewtonMeshCalculateOOBB(const mesh : NewtonMesh; matrix : PdFloat; x : PdFloat; y : PdFloat; z : PdFloat); cdecl; external NEWTON_API;
  1241.  
  1242.  procedure NewtonMeshCalculateVertexNormals(const mesh : NewtonMesh; angleInRadians : dFloat); cdecl; external NEWTON_API;
  1243.  procedure NewtonMeshApplySphericalMapping(const mesh : NewtonMesh; material : Integer); cdecl; external NEWTON_API;
  1244.  procedure NewtonMeshApplyBoxMapping(const mesh : NewtonMesh; front : Integer; side : Integer; top : Integer); cdecl; external NEWTON_API;
  1245.  procedure NewtonMeshApplyCylindricalMapping(const mesh : NewtonMesh; cylinderMaterial : Integer; capMaterial : Integer); cdecl; external NEWTON_API;
  1246.  
  1247.  function NewtonMeshIsOpenMesh (const mesh : NewtonMesh) : Integer; cdecl; external NEWTON_API;
  1248.  procedure NewtonMeshFixTJoints (const mesh : NewtonMesh); cdecl; external NEWTON_API;
  1249.  
  1250.  procedure NewtonMeshPolygonize (const mesh : NewtonMesh); cdecl; external NEWTON_API;
  1251.  procedure NewtonMeshTriangulate (const mesh : NewtonMesh); cdecl; external NEWTON_API;
  1252.  function NewtonMeshUnion (const mesh : NewtonMesh; const clipper : NewtonMesh; const clipperMatrix : PdFloat) : NewtonMesh; cdecl; external NEWTON_API;
  1253.  function NewtonMeshDifference (const mesh : NewtonMesh; const clipper : NewtonMesh; const clipperMatrix : PdFloat) : NewtonMesh; cdecl; external NEWTON_API;
  1254.  function NewtonMeshIntersection (const mesh : NewtonMesh; const clipper : NewtonMesh; const clipperMatrix : PdFloat) : NewtonMesh; cdecl; external NEWTON_API;
  1255.  procedure NewtonMeshClip (const mesh : NewtonMesh; const clipper : NewtonMesh; const clipperMatrix : PdFloat; topMesh : NewtonMesh; bottomMesh : NewtonMesh); cdecl; external NEWTON_API;
  1256.  
  1257.  function NewtonMeshSimplify (const mesh : NewtonMesh; maxVertexCount : Integer; reportPrograssCallback : PNewtonReportProgress) : NewtonMesh; cdecl; external NEWTON_API;
  1258.  function NewtonMeshApproximateConvexDecomposition (const mesh : NewtonMesh; maxConcavity : dFloat; backFaceDistanceFactor : dFloat; maxCount : Integer; maxVertexPerHull : Integer; reportPrograssCallback : PNewtonReportProgress) : NewtonMesh; cdecl; external NEWTON_API;
  1259.  
  1260.  procedure NewtonRemoveUnusedVertices(const mesh : NewtonMesh; vertexRemapTable : PInteger); cdecl; external NEWTON_API;
  1261.  
  1262.  procedure NewtonMeshBeginFace(const mesh : NewtonMesh); cdecl; external NEWTON_API;
  1263.  procedure NewtonMeshAddFace(const mesh : NewtonMesh; vertexCount : Integer; const vertex : PdFloat; strideInBytes : Integer; materialIndex : Integer); cdecl; external NEWTON_API;
  1264.  procedure NewtonMeshEndFace(const mesh : NewtonMesh); cdecl; external NEWTON_API;
  1265.  
  1266.  procedure NewtonMeshBuildFromVertexListIndexList(const mesh : NewtonMesh; faceCount : Integer; const faceIndexCount : PInteger; const faceMaterialIndex : PInteger;
  1267.   const vertex : PdFloat; vertexStrideInBytes : Integer; const vertexIndex: PInteger; const normal : PdFloat; normalStrideInBytes : Integer; const normalIndex: PInteger;
  1268.   const uv0 : PdFloat; uv0StrideInBytes : Integer; const uv0Index : PInteger; const uv1 : PdFloat; uv1StrideInBytes : Integer; const uv1Index : PInteger); cdecl; external NEWTON_API;
  1269.  
  1270.  
  1271.  
  1272.  procedure NewtonMeshGetVertexStreams (const mesh : NewtonMesh; vertexStrideInByte : Integer; vertex : PdFloat;
  1273.                                        normalStrideInByte : Integer; normal : PdFloat; uvStrideInByte0 : Integer;
  1274.                                        uv0 : PdFloat; uvStrideInByte1 : Integer; uv1 : PdFloat); cdecl; external NEWTON_API;
  1275.  procedure NewtonMeshGetIndirectVertexStreams(const mesh : NewtonMesh; vertexStrideInByte : Integer;
  1276.                                               vertex : PdFloat; vertexIndices : PInteger; vertexCount : PInteger;
  1277.                                               normalStrideInByte : Integer; normal : PdFloat; normalIndices : PInteger;
  1278.                                               normalCount : PInteger; uvStrideInByte0 : Integer; uv0 : PdFloat;
  1279.                                               uvIndices0 : PInteger; uvCount0 : PInteger; uvStrideInByte1 : Integer;
  1280.                                               uv1 : PdFloat; uvIndices1 : PInteger; uvCount1 : PInteger); cdecl; external NEWTON_API;
  1281.  function NewtonMeshBeginHandle (const mesh : NewtonMesh) : NewtonMeshHandle; cdecl; external NEWTON_API;
  1282.  procedure NewtonMeshEndHandle (const mesh : NewtonMesh; handle : NewtonMeshHandle); cdecl; external NEWTON_API;
  1283.  function NewtonMeshFirstMaterial (const mesh : NewtonMesh; handle : NewtonMeshHandle) : Integer; cdecl; external NEWTON_API;
  1284.  function NewtonMeshNextMaterial (const mesh : NewtonMesh; handle : NewtonMeshHandle; materialId : Integer) : Integer; cdecl; external NEWTON_API;
  1285.  function NewtonMeshMaterialGetMaterial (const mesh : NewtonMesh; handle : NewtonMeshHandle; materialId : Integer) : Integer; cdecl; external NEWTON_API;
  1286.  function NewtonMeshMaterialGetIndexCount (const mesh : NewtonMesh; handle : NewtonMeshHandle; materialId : Integer) : Integer; cdecl; external NEWTON_API;
  1287.  procedure NewtonMeshMaterialGetIndexStream (const mesh : NewtonMesh; handle : NewtonMeshHandle; materialId : Integer; index : PInteger); cdecl; external NEWTON_API;
  1288.  procedure NewtonMeshMaterialGetIndexStreamShort (const mesh : NewtonMesh; handle : NewtonMeshHandle; materialId : Integer; index : PSmallInt); cdecl; external NEWTON_API;
  1289.  
  1290.  function NewtonMeshCreateFirstSingleSegment (const mesh : NewtonMesh) : NewtonMesh; cdecl; external NEWTON_API;
  1291.  function NewtonMeshCreateNextSingleSegment (const mesh : NewtonMesh; const segment : NewtonMesh) : NewtonMesh; cdecl; external NEWTON_API;
  1292.  
  1293.  function NewtonMeshCreateFirstLayer (const mesh : NewtonMesh) : NewtonMesh; cdecl; external NEWTON_API;
  1294.  function NewtonMeshCreateNextLayer (const mesh : NewtonMesh; const segment : NewtonMesh) : NewtonMesh; cdecl; external NEWTON_API;
  1295.  
  1296.  
  1297.  function NewtonMeshGetTotalFaceCount (const mesh : NewtonMesh) : Integer; cdecl; external NEWTON_API;
  1298.  function NewtonMeshGetTotalIndexCount (const mesh : NewtonMesh) : Integer; cdecl; external NEWTON_API;
  1299.  procedure NewtonMeshGetFaces (const mesh : NewtonMesh; faceIndexCount : PInteger; faceMaterial : PInteger; faceIndices : Pointer); cdecl; external NEWTON_API;
  1300.  
  1301.  
  1302.  function NewtonMeshGetPointCount (const mesh : NewtonMesh) : Integer; cdecl; external NEWTON_API;
  1303.  function NewtonMeshGetPointStrideInByte (const mesh : NewtonMesh) : Integer; cdecl; external NEWTON_API;
  1304.  function NewtonMeshGetPointArray (const mesh : NewtonMesh) : PdFloat64; cdecl; external NEWTON_API;
  1305.  function NewtonMeshGetNormalArray (const mesh : NewtonMesh) : PdFloat64; cdecl; external NEWTON_API;
  1306.  function NewtonMeshGetUV0Array (const mesh : NewtonMesh) : PdFloat64; cdecl; external NEWTON_API;
  1307.  function NewtonMeshGetUV1Array (const mesh : NewtonMesh) : PdFloat64; cdecl; external NEWTON_API;
  1308.  
  1309.  function NewtonMeshGetVertexCount (const mesh : NewtonMesh) : Integer; cdecl; external NEWTON_API;
  1310.  function NewtonMeshGetVertexStrideInByte (const mesh : NewtonMesh) : Integer; cdecl; external NEWTON_API;
  1311.  function NewtonMeshGetVertexArray (const mesh : NewtonMesh) : PdFloat64; cdecl; external NEWTON_API;
  1312.  
  1313.  
  1314.  function NewtonMeshGetFirstVertex (const mesh : NewtonMesh) : NewtonMeshVertex; cdecl; external NEWTON_API;
  1315.  function NewtonMeshGetNextVertex (const mesh : NewtonMesh; const vertex : NewtonMeshVertex) : NewtonMeshVertex; cdecl; external NEWTON_API;
  1316.  function NewtonMeshGetVertexIndex (const mesh : NewtonMesh; const vertex : NewtonMeshVertex) : Integer; cdecl; external NEWTON_API;
  1317.  
  1318.  function NewtonMeshGetFirstPoint (const mesh : NewtonMesh) : NewtonMeshPoint; cdecl; external NEWTON_API;
  1319.  function NewtonMeshGetNextPoint (const mesh : NewtonMesh; const point : NewtonMeshPoint) : NewtonMeshPoint; cdecl; external NEWTON_API;
  1320.  function NewtonMeshGetPointIndex (const mesh : NewtonMesh; const point : NewtonMeshPoint) : Integer; cdecl; external NEWTON_API;
  1321.  function NewtonMeshGetVertexIndexFromPoint (const mesh : NewtonMesh; const point : NewtonMeshPoint) : Integer; cdecl; external NEWTON_API;
  1322.  
  1323.  
  1324.  function NewtonMeshGetFirstEdge (const mesh : NewtonMesh) : NewtonMeshEdge; cdecl; external NEWTON_API;
  1325.  function NewtonMeshGetNextEdge (const mesh : NewtonMesh; const edge : NewtonMeshEdge) : NewtonMeshEdge; cdecl; external NEWTON_API;
  1326.  procedure NewtonMeshGetEdgeIndices (const mesh : NewtonMesh; const edge : NewtonMeshEdge; v0 : PInteger; v1 : PInteger); cdecl; external NEWTON_API;
  1327.  //procedure NewtonMeshGetEdgePointIndices (const mesh : NewtonMesh; const void* const edge, int* const v0, int* const v1);
  1328.  
  1329.  function NewtonMeshGetFirstFace (const mesh : NewtonMesh) : NewtonMeshFace; cdecl; external NEWTON_API;
  1330.  function NewtonMeshGetNextFace (const mesh : NewtonMesh; const face : NewtonMeshFace) : NewtonMeshFace; cdecl; external NEWTON_API;
  1331.  function NewtonMeshIsFaceOpen (const mesh : NewtonMesh; const face : NewtonMeshFace) : Integer; cdecl; external NEWTON_API;
  1332.  function NewtonMeshGetFaceMaterial (const mesh : NewtonMesh; const face : NewtonMeshFace) : Integer; cdecl; external NEWTON_API;
  1333.  function NewtonMeshGetFaceIndexCount (const mesh : NewtonMesh; const face : NewtonMeshFace) : Integer; cdecl; external NEWTON_API;
  1334.  procedure NewtonMeshGetFaceIndices (const mesh : NewtonMesh; const face : NewtonMeshFace; indices : PInteger); cdecl; external NEWTON_API;
  1335.  procedure NewtonMeshGetFacePointIndices (const mesh : NewtonMesh; const face : NewtonMeshFace; indices : PInteger); cdecl; external NEWTON_API;
  1336.  procedure NewtonMeshCalculateFaceNormal (const mesh : NewtonMesh; const face : NewtonMeshFace; normal : PdFloat64); cdecl; external NEWTON_API;
  1337.  
  1338.  procedure NewtonMeshSetFaceMaterial (const mesh : NewtonMesh; const face : NewtonMeshFace; matId : Integer); cdecl; external NEWTON_API;
  1339.  
  1340.  
  1341. implementation
  1342.  
  1343. end.
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!