| 1 | /************************************************************************* |
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| 2 | * * |
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| 3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * |
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 5 | * * |
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| 6 | * This library is free software; you can redistribute it and/or * |
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| 7 | * modify it under the terms of EITHER: * |
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| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 10 | * your option) any later version. The text of the GNU Lesser * |
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| 11 | * General Public License is included with this library in the * |
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| 12 | * file LICENSE.TXT. * |
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| 13 | * (2) The BSD-style license that is included with this library in * |
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| 14 | * the file LICENSE-BSD.TXT. * |
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| 15 | * * |
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| 16 | * This library is distributed in the hope that it will be useful, * |
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 20 | * * |
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| 21 | *************************************************************************/ |
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| 22 | |
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| 23 | #ifndef _ODE_COLLISION_SPACE_H_ |
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| 24 | #define _ODE_COLLISION_SPACE_H_ |
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| 25 | |
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| 26 | #include <ode/common.h> |
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| 27 | |
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| 28 | #ifdef __cplusplus |
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| 29 | extern "C" { |
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| 30 | #endif |
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| 31 | |
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| 32 | struct dContactGeom; |
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| 33 | |
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| 34 | /** |
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| 35 | * @brief User callback for geom-geom collision testing. |
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| 36 | * |
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| 37 | * @param data The user data object, as passed to dSpaceCollide. |
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| 38 | * @param o1 The first geom being tested. |
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| 39 | * @param o2 The second geom being test. |
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| 40 | * |
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| 41 | * @remarks The callback function can call dCollide on o1 and o2 to generate |
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| 42 | * contact points between each pair. Then these contact points may be added |
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| 43 | * to the simulation as contact joints. The user's callback function can of |
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| 44 | * course chose not to call dCollide for any pair, e.g. if the user decides |
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| 45 | * that those pairs should not interact. |
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| 46 | * |
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| 47 | * @ingroup collide |
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| 48 | */ |
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| 49 | typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); |
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| 50 | |
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| 51 | |
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| 52 | ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space); |
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| 53 | ODE_API dSpaceID dHashSpaceCreate (dSpaceID space); |
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| 54 | ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth); |
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| 55 | |
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| 56 | ODE_API void dSpaceDestroy (dSpaceID); |
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| 57 | |
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| 58 | ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel); |
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| 59 | ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel); |
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| 60 | |
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| 61 | ODE_API void dSpaceSetCleanup (dSpaceID space, int mode); |
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| 62 | ODE_API int dSpaceGetCleanup (dSpaceID space); |
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| 63 | |
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| 64 | ODE_API void dSpaceAdd (dSpaceID, dGeomID); |
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| 65 | ODE_API void dSpaceRemove (dSpaceID, dGeomID); |
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| 66 | ODE_API int dSpaceQuery (dSpaceID, dGeomID); |
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| 67 | ODE_API void dSpaceClean (dSpaceID); |
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| 68 | ODE_API int dSpaceGetNumGeoms (dSpaceID); |
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| 69 | ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i); |
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| 70 | |
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| 71 | |
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| 72 | #ifdef __cplusplus |
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| 73 | } |
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| 74 | #endif |
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| 75 | |
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| 76 | #endif |
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