--- /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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