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Newton physics by Jedive
(Posted 23 years ago)
I haven't tested it yet, but I think it is ok. Some of the functions don't have much sense in Blitz, cos they use function callbacks. Anyway, you would use these functions by creating custom dlls with functions which return pointers to the callbacks. Other functions return pointers to data, so you need to peek from that memory. I woyuld write a PeekMemByte(), PeekMemShort() etc library if someone requests it :) Other functions require a pointer to some data as parameter (for example, a vector with three floats). You can reate a bank and pass it as parameter.

Try it and tell me if something is wrong. Please create cool demos for all of us to see! :D

You must download the Newton SDK from http://www.physicsengine.com which contains the DLL you need and the documentation of the API.

Enjoy :) 
.lib "Newton.dll"

;World interface
NewtonCreate%(malloc, free)
NewtonDestroy(world)
NewtonUpdate(world, timestep#)
NewtonDestroyAllBodies(world)
NewtonSetWorldSize(world, min_ptr*, max_ptr*)
NewtonSetBodyLeaveWorldEvent(world, callback)
NewtonWorldFreezeBody(world, body)
NewtonWorldUnfreezeBody(world, body)

;GroupID interface
NewtonMaterialGetDefaultGroupID%(world)
NewtonMaterialCreateGroupID%(world)
NewtonMaterialDestroyAllGroupID(world)
NewtonMaterialSetDefaultCollidable(world, id0, id1, state)
NewtonMaterialSetDefaultFriction(world, id0, id1, static_friction#, kinetic_friction#)
NewtonMaterialSetDefaultElasticity(world, id0, id1, elastic_coef#)
NewtonMaterialSetDefaultSoftness(world, id0, id1, softness_coef#)
NewtonMaterialSetCollisionCallback(world, id0, id1, user_data*, begin_callback, process_callback, end_callback)

;Contact behaviour control interface
NewtonMaterialDisableContact(material)
NewtonMaterialGetContactUserData%(material)
NewtonMaterialGetContactNormalSpeed#(material, contact_handle)
NewtonMaterialGetContactTangentSpeed#(material, contact_handle, index)
NewtonMaterialGetContactPositionAndNormal(material, posit_ptr*, normal_ptr*)
NewtonMaterialGetContactTangentDirections(material, dir0*, dir1*)
NewtonMaterialSetContactSoftness(material, softness#)
NewtonMaterialSetContactElasticity(material, restitution#)
NewtonMaterialSetContactFrictionState(material, state, index)
NewtonMaterialSetContactStaticFrictionCoef(material, coef#, index)
NewtonMaterialSetContactKineticFrictionCoef(material, coef#, index)
NewtonMaterialSetContactTangentAcceleration(material, accel#, index)
NewtonMaterialContactRotateTangentDirections(material,align_vector*)

;Convex collision primitives interface
NewtonCreateSphere%(world, radius#, offset_matrix*)
NewtonCreateBox%(world, dx#, dy#, dz#, offset_matrix*)

;Complex collision primitives interface
NewtonCreateCompoundCollision%(world, count, collision_primitive_array*)
NewtonCreateUserMeshCollision%(world, min_box*, max_box*, user_data*, collide_callback, rayhit_callback, destroy_callback)
NewtonCreateTreeCollision%(world, user_callback)
NewtonTreeCollisionBeginBuild(tree_collision)
NewtonTreeCollisionAddFace(tree_collision, vertex_count, vertex_ptr, stride_in_bytes, face_attribute)
NewtonTreeCollisionEndBuild(tree_collision, optimize)
NewtonTreeCollisionSerialize(tree_collision, callback, serialize_handle*)
NewtonCreateTreeCollisionFromSerialization%(world, user_callback, deserialize_function, serialize_handle)
NewtonTreeCollisionGetFaceAtribute%(tree_collision, face_index_array*)
NewtonTreeCollisionSetFaceAtribute(tree_collision, face_index_array*, attribute)

;Collision miscelanios interface
NewtonReleaseCollision(world, collision_ptr)
NewtonCollisionCalculateAABB(collision_ptr, offset_matrix*, p0*, p1*)

;Transforms utility functions
NewtonGetEulerAngle(matrix*, angles*)
NewtonSetEulerAngle(matrix*, angles*)

;Rigid Body interface
NewtonCreateBody%(world, collision_ptr)
NewtonDestroyBody(world, body)
NewtonBodySetUserData(body, user_data*)
NewtonBodyGetUserData%(body)
NewtonBodySetTransformCallback(body, callback)
NewtonBodySetForceAndTorqueCallback(body, callback)
NewtonBodySetDestructorCallback(body, callback)
NewtonBodySetMassMatrix(body, mass#, Ixx#, Iyy#, Izz#)
NewtonBodyGetMassMatrix(body, mass*, Ixx*, Iyy*, Izz*)
NewtonBodyGetInvMass(body, inv_mass*, inv_Ixx*, inv_Iyy*, inv_Izz*)
NewtonBodySetMatrix(body, matrix_ptr*)
NewtonBodySetMatrixRecursive(world, body, matrix_ptr*)
NewtonBodyGetMatrix(body, matrix_ptr*)
NewtonBodySetForce(body, force_ptr*)
NewtonBodyAddForce(body, force_ptr*)
NewtonBodyGetForce(body, vector*)
NewtonBodySetTorque(body, torque_ptr*)
NewtonBodyAddTorque(body, torque_ptr*)
NewtonBodyGetTorque(body, vector*)
NewtonBodyAddBuoyancyForce(body, fluid_density#, fluid_linear_viscosity#, fluid_angular_viscosity#, gravity_vector*, buoyancy_plane)
NewtonBodySetCollision(body, collision)
NewtonBodyGetCollision%(body)
NewtonBodySetMaterialGroupID(body, id)
NewtonBodyGetMaterialGroupID%(body)
NewtonBodySetAutoFreeze(body, state)
NewtonBodyGetAutoFreeze%(body)
NewtonBodySetFreezeTreshold(body, freeze_accel_mag#, freeze_alpha_mag#, freeze_speed_mag#, freeze_omega_mag#)
NewtonBodyGetFreezeTreshold(body, freeze_accel_mag*, freeze_alpha_mag*, freeze_speed_mag*, freeze_omega_mag*)
NewtonBodyGetAABB(body, p0*, p1*)
NewtonBodySetVelocity(body, velocity*)
NewtonBodyGetVelocity(body, velocity*)
NewtonBodySetOmega(body, omega*)
NewtonBodyGetOmega(body, omega*)
NewtonBodySetLinearDamping(body, linear_damp#)
NewtonBodyGetLinearDamping(body, linear_damp*)
NewtonBodySetAngularDamping(body, angular_damp*)
NewtonBodyGetAngularDamping(body, angular_damp*)
NewtonBodyRayIntersect#(body, p0*, p1*, normal_ptr*)
NewtonAddBodyImpulse(world, body, point_delta_veloc*, point_posit*)