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motion-bricks.cpp / include /motionbricks /motionbricks.h
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#ifndef MOTIONBRICKS_MOTIONBRICKS_H
#define MOTIONBRICKS_MOTIONBRICKS_H
#include <stdint.h>
#define MB_ABI_VERSION UINT32_C(1)
#if defined(_WIN32) && defined(MOTIONBRICKS_SHARED)
# if defined(MOTIONBRICKS_BUILD)
# define MB_API __declspec(dllexport)
# else
# define MB_API __declspec(dllimport)
# endif
#elif defined(__GNUC__) && defined(MOTIONBRICKS_SHARED)
# define MB_API __attribute__((visibility("default")))
#else
# define MB_API
#endif
#ifdef __cplusplus
extern "C" {
#endif
typedef uint32_t mb_status;
#define MB_OK UINT32_C(0)
#define MB_INVALID_ARGUMENT UINT32_C(1)
#define MB_OUT_OF_MEMORY UINT32_C(2)
#define MB_IO_ERROR UINT32_C(3)
#define MB_INVALID_FORMAT UINT32_C(4)
#define MB_INCOMPATIBLE_MODEL UINT32_C(5)
#define MB_BACKEND_UNAVAILABLE UINT32_C(6)
#define MB_COMPUTE_FAILED UINT32_C(7)
#define MB_NOT_IMPLEMENTED UINT32_C(8)
#define MB_INTERNAL_ERROR UINT32_C(9)
typedef uint32_t mb_device;
#define MB_DEVICE_AUTO UINT32_C(0)
#define MB_DEVICE_CPU UINT32_C(1)
#define MB_DEVICE_VULKAN UINT32_C(2)
typedef struct mb_runtime_options mb_runtime_options;
typedef struct mb_model mb_model;
typedef struct mb_style mb_style;
typedef struct mb_command mb_command;
typedef struct mb_agent mb_agent;
typedef struct mb_motion mb_motion;
MB_API uint32_t mb_abi_version(void);
MB_API const char * mb_status_string(mb_status status);
/* Runtime options are opaque so FFI callers never reproduce a struct layout. */
MB_API mb_status mb_runtime_options_create(mb_runtime_options ** output,
char * error, uint64_t error_capacity);
MB_API void mb_runtime_options_free(mb_runtime_options * value);
MB_API mb_status mb_runtime_options_set_device(mb_runtime_options * value, mb_device device,
char * error, uint64_t error_capacity);
MB_API mb_status mb_runtime_options_get_device(const mb_runtime_options * value, mb_device * output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_runtime_options_set_threads(mb_runtime_options * value, uint32_t threads,
char * error, uint64_t error_capacity);
MB_API mb_status mb_runtime_options_get_threads(const mb_runtime_options * value, uint32_t * output,
char * error, uint64_t error_capacity);
/* Passing NULL clears the override. The returned string is borrowed. */
MB_API mb_status mb_runtime_options_set_backend_directory(mb_runtime_options * value,
const char * directory,
char * error, uint64_t error_capacity);
MB_API mb_status mb_runtime_options_get_backend_directory(const mb_runtime_options * value,
const char ** output,
char * error, uint64_t error_capacity);
/* A command is independent of compiler layout and may be reused between plans. */
MB_API mb_status mb_command_create(mb_command ** output,
char * error, uint64_t error_capacity);
MB_API void mb_command_free(mb_command * value);
MB_API mb_status mb_command_set_style(mb_command * value, const mb_style * style,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_get_style(const mb_command * value, const mb_style ** output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_set_movement_direction(mb_command * value, float x, float y, float z,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_get_movement_direction(const mb_command * value,
float * x, float * y, float * z,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_set_facing_direction(mb_command * value, float x, float y, float z,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_get_facing_direction(const mb_command * value,
float * x, float * y, float * z,
char * error, uint64_t error_capacity);
/* A negative speed selects the style's configured speed. */
MB_API mb_status mb_command_set_target_speed(mb_command * value, float metres_per_second,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_get_target_speed(const mb_command * value, float * output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_set_world_target(mb_command * value,
float x, float y, float z,
float heading_radians, uint32_t enabled,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_get_world_target(const mb_command * value,
float * x, float * y, float * z,
float * heading_radians, uint32_t * enabled,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_set_seed(mb_command * value, uint64_t seed,
char * error, uint64_t error_capacity);
MB_API mb_status mb_command_get_seed(const mb_command * value, uint64_t * output,
char * error, uint64_t error_capacity);
/* Neural model, style, and stateful animation planner. */
MB_API mb_status mb_model_load(const char * bundle_directory,
const mb_runtime_options * options, mb_model ** output,
char * error, uint64_t error_capacity);
MB_API void mb_model_free(mb_model * value);
MB_API mb_status mb_model_get_parameter_count(const mb_model * value, uint64_t * output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_model_get_joint_count(const mb_model * value, uint32_t * output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_model_get_joint_name(const mb_model * value, uint32_t joint,
const char ** output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_model_get_joint_parent(const mb_model * value, uint32_t joint,
int32_t * output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_model_get_neutral_joint_position(const mb_model * value, uint32_t joint,
float * x, float * y, float * z,
char * error, uint64_t error_capacity);
MB_API mb_status mb_style_load(const mb_model * model, const char * style_path,
mb_style ** output, char * error, uint64_t error_capacity);
MB_API void mb_style_free(mb_style * value);
MB_API mb_status mb_style_get_name(const mb_style * value, const char ** output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_style_set_speed(mb_style * value, float metres_per_second,
char * error, uint64_t error_capacity);
MB_API mb_status mb_style_get_speed(const mb_style * value, float * output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_agent_create(const mb_model * model, mb_agent ** output,
char * error, uint64_t error_capacity);
MB_API void mb_agent_free(mb_agent * value);
MB_API mb_status mb_agent_reset(mb_agent * value, const mb_style * initial_style,
char * error, uint64_t error_capacity);
MB_API mb_status mb_agent_set_context(mb_agent * value,
const float * root_xyz,
const float * local_rotation_xyzw,
uint64_t frames, uint64_t joints,
char * error, uint64_t error_capacity);
MB_API mb_status mb_agent_plan(mb_agent * value, const mb_command * command,
mb_motion ** output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_agent_advance(mb_agent * value, uint32_t frames,
char * error, uint64_t error_capacity);
MB_API void mb_motion_free(mb_motion * value);
MB_API mb_status mb_motion_get_frame_count(const mb_motion * value, uint64_t * output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_motion_get_joint_count(const mb_motion * value, uint64_t * output,
char * error, uint64_t error_capacity);
/* Borrowed row-major F32 buffers valid until mb_motion_free. */
MB_API mb_status mb_motion_get_root_translations(const mb_motion * value,
const float ** output, uint64_t * values,
char * error, uint64_t error_capacity);
MB_API mb_status mb_motion_get_local_rotations_xyzw(const mb_motion * value,
const float ** output, uint64_t * values,
char * error, uint64_t error_capacity);
/* The four placed style-pose constraints actually supplied to the planner. */
MB_API mb_status mb_motion_get_target_frame_count(const mb_motion * value, uint64_t * output,
char * error, uint64_t error_capacity);
MB_API mb_status mb_motion_get_target_root_translations(const mb_motion * value,
const float ** output, uint64_t * values,
char * error, uint64_t error_capacity);
MB_API mb_status mb_motion_get_target_local_rotations_xyzw(const mb_motion * value,
const float ** output, uint64_t * values,
char * error, uint64_t error_capacity);
#ifdef __cplusplus
}
#endif
#endif