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Diffstat (limited to 'libs/ode-0.16.1/include/ode/collision_space.h')
| -rw-r--r-- | libs/ode-0.16.1/include/ode/collision_space.h | 182 |
1 files changed, 182 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/include/ode/collision_space.h b/libs/ode-0.16.1/include/ode/collision_space.h new file mode 100644 index 0000000..30cc536 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/collision_space.h @@ -0,0 +1,182 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser General Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * General Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +#ifndef _ODE_COLLISION_SPACE_H_ +#define _ODE_COLLISION_SPACE_H_ + +#include <ode/common.h> + +#ifdef __cplusplus +extern "C" { +#endif + +struct dContactGeom; + +/** + * @brief User callback for geom-geom collision testing. + * + * @param data The user data object, as passed to dSpaceCollide. + * @param o1 The first geom being tested. + * @param o2 The second geom being test. + * + * @remarks The callback function can call dCollide on o1 and o2 to generate + * contact points between each pair. Then these contact points may be added + * to the simulation as contact joints. The user's callback function can of + * course chose not to call dCollide for any pair, e.g. if the user decides + * that those pairs should not interact. + * + * @ingroup collide + */ +typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); + + +ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space); +ODE_API dSpaceID dHashSpaceCreate (dSpaceID space); +ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); + + +/* SAP */ +/* Order XZY or ZXY usually works best, if your Y is up. */ +#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) +#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) +#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) +#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) +#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) +#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) + +ODE_API dSpaceID dSweepAndPruneSpaceCreate( dSpaceID space, int axisorder ); + + + +ODE_API void dSpaceDestroy (dSpaceID); + +ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel); +ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel); + +ODE_API void dSpaceSetCleanup (dSpaceID space, int mode); +ODE_API int dSpaceGetCleanup (dSpaceID space); + +/** +* @brief Sets sublevel value for a space. +* +* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided +* with another space. If sublevels of both spaces match, the function iterates +* geometries of both spaces and collides them with each other. If sublevel of one +* space is greater than the sublevel of another one, only the geometries of the +* space with greater sublevel are iterated, another space is passed into +* collision callback as a geometry itself. By default all the spaces are assigned +* zero sublevel. +* +* @note +* The space sublevel @e IS @e NOT automatically updated when one space is inserted +* into another or removed from one. It is a client's responsibility to update sublevel +* value if necessary. +* +* @param space the space to modify +* @param sublevel the sublevel value to be assigned +* @ingroup collide +* @see dSpaceGetSublevel +* @see dSpaceCollide2 +*/ +ODE_API void dSpaceSetSublevel (dSpaceID space, int sublevel); + +/** +* @brief Gets sublevel value of a space. +* +* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided +* with another space. See @c dSpaceSetSublevel for more details. +* +* @param space the space to query +* @returns the sublevel value of the space +* @ingroup collide +* @see dSpaceSetSublevel +* @see dSpaceCollide2 +*/ +ODE_API int dSpaceGetSublevel (dSpaceID space); + + +/** +* @brief Sets manual cleanup flag for a space. +* +* Manual cleanup flag marks a space as eligible for manual thread data cleanup. +* This function should be called for every space object right after creation in +* case if ODE has been initialized with @c dInitFlagManualThreadCleanup flag. +* +* Failure to set manual cleanup flag for a space may lead to some resources +* remaining leaked until the program exit. +* +* @param space the space to modify +* @param mode 1 for manual cleanup mode and 0 for default cleanup mode +* @ingroup collide +* @see dSpaceGetManualCleanup +* @see dInitODE2 +*/ +ODE_API void dSpaceSetManualCleanup (dSpaceID space, int mode); + +/** +* @brief Get manual cleanup flag of a space. +* +* Manual cleanup flag marks a space space as eligible for manual thread data cleanup. +* See @c dSpaceSetManualCleanup for more details. +* +* @param space the space to query +* @returns 1 for manual cleanup mode and 0 for default cleanup mode of the space +* @ingroup collide +* @see dSpaceSetManualCleanup +* @see dInitODE2 +*/ +ODE_API int dSpaceGetManualCleanup (dSpaceID space); + +ODE_API void dSpaceAdd (dSpaceID, dGeomID); +ODE_API void dSpaceRemove (dSpaceID, dGeomID); +ODE_API int dSpaceQuery (dSpaceID, dGeomID); +ODE_API void dSpaceClean (dSpaceID); +ODE_API int dSpaceGetNumGeoms (dSpaceID); +ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i); + +/** + * @brief Given a space, this returns its class. + * + * The ODE classes are: + * @li dSimpleSpaceClass + * @li dHashSpaceClass + * @li dSweepAndPruneSpaceClass + * @li dQuadTreeSpaceClass + * @li dFirstUserClass + * @li dLastUserClass + * + * The class id not defined by the user should be between + * dFirstSpaceClass and dLastSpaceClass. + * + * User-defined class will return their own number. + * + * @param space the space to query + * @returns The space class ID. + * @ingroup collide + */ +ODE_API int dSpaceGetClass(dSpaceID space); + +#ifdef __cplusplus +} +#endif + +#endif |