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/*************************************************************************
* *
* 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
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