/************************************************************************* * * * 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 #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