183 lines
6.5 KiB
C
183 lines
6.5 KiB
C
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#ifndef _ODE_COLLISION_SPACE_H_
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#define _ODE_COLLISION_SPACE_H_
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#include <ode/common.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct dContactGeom;
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/**
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* @brief User callback for geom-geom collision testing.
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*
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* @param data The user data object, as passed to dSpaceCollide.
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* @param o1 The first geom being tested.
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* @param o2 The second geom being tested.
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*
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* @remarks The callback function can call dCollide on o1 and o2 to generate
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* contact points between each pair. Then these contact points may be added
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* to the simulation as contact joints. The user's callback function can of
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* course chose not to call dCollide for any pair, e.g. if the user decides
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* that those pairs should not interact.
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*
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* @ingroup collide
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*/
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typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
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ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space);
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ODE_API dSpaceID dHashSpaceCreate (dSpaceID space);
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ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
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/* SAP */
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/* Order XZY or ZXY usually works best, if your Y is up. */
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#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
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#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
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#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
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#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
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#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
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#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
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ODE_API dSpaceID dSweepAndPruneSpaceCreate( dSpaceID space, int axisorder );
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ODE_API void dSpaceDestroy (dSpaceID);
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ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
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ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);
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ODE_API void dSpaceSetCleanup (dSpaceID space, int mode);
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ODE_API int dSpaceGetCleanup (dSpaceID space);
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/**
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* @brief Sets sublevel value for a space.
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*
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* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided
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* with another space. If sublevels of both spaces match, the function iterates
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* geometries of both spaces and collides them with each other. If sublevel of one
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* space is greater than the sublevel of another one, only the geometries of the
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* space with greater sublevel are iterated, another space is passed into
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* collision callback as a geometry itself. By default all the spaces are assigned
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* zero sublevel.
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*
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* @note
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* The space sublevel @e IS @e NOT automatically updated when one space is inserted
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* into another or removed from one. It is a client's responsibility to update sublevel
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* value if necessary.
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*
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* @param space the space to modify
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* @param sublevel the sublevel value to be assigned
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* @ingroup collide
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* @see dSpaceGetSublevel
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* @see dSpaceCollide2
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*/
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ODE_API void dSpaceSetSublevel (dSpaceID space, int sublevel);
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/**
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* @brief Gets sublevel value of a space.
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*
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* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided
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* with another space. See @c dSpaceSetSublevel for more details.
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*
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* @param space the space to query
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* @returns the sublevel value of the space
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* @ingroup collide
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* @see dSpaceSetSublevel
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* @see dSpaceCollide2
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*/
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ODE_API int dSpaceGetSublevel (dSpaceID space);
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/**
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* @brief Sets manual cleanup flag for a space.
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*
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* Manual cleanup flag marks a space as eligible for manual thread data cleanup.
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* This function should be called for every space object right after creation in
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* case if ODE has been initialized with @c dInitFlagManualThreadCleanup flag.
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*
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* Failure to set manual cleanup flag for a space may lead to some resources
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* remaining leaked until the program exit.
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*
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* @param space the space to modify
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* @param mode 1 for manual cleanup mode and 0 for default cleanup mode
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* @ingroup collide
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* @see dSpaceGetManualCleanup
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* @see dInitODE2
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*/
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ODE_API void dSpaceSetManualCleanup (dSpaceID space, int mode);
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/**
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* @brief Get manual cleanup flag of a space.
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*
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* Manual cleanup flag marks a space space as eligible for manual thread data cleanup.
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* See @c dSpaceSetManualCleanup for more details.
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*
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* @param space the space to query
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* @returns 1 for manual cleanup mode and 0 for default cleanup mode of the space
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* @ingroup collide
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* @see dSpaceSetManualCleanup
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* @see dInitODE2
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*/
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ODE_API int dSpaceGetManualCleanup (dSpaceID space);
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ODE_API void dSpaceAdd (dSpaceID, dGeomID);
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ODE_API void dSpaceRemove (dSpaceID, dGeomID);
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ODE_API int dSpaceQuery (dSpaceID, dGeomID);
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ODE_API void dSpaceClean (dSpaceID);
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ODE_API int dSpaceGetNumGeoms (dSpaceID);
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ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i);
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/**
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* @brief Given a space, this returns its class.
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*
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* The ODE classes are:
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* @li dSimpleSpaceClass
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* @li dHashSpaceClass
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* @li dSweepAndPruneSpaceClass
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* @li dQuadTreeSpaceClass
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* @li dFirstUserClass
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* @li dLastUserClass
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*
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* The class id not defined by the user should be between
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* dFirstSpaceClass and dLastSpaceClass.
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*
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* User-defined class will return their own number.
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*
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* @param space the space to query
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* @returns The space class ID.
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* @ingroup collide
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*/
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ODE_API int dSpaceGetClass(dSpaceID space);
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#ifdef __cplusplus
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}
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#endif
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#endif
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