+++ /dev/null
-/*************************************************************************
- * *
- * 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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