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

 *                                                                       *

 * Open Dynamics Engine, Copyright (C) 2001,2002 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_ODE_H_

#define _ODE_ODE_H_

/* include *everything* here */

#include <ode/config.h>

#include <ode/compatibility.h>

#include <ode/common.h>

#include <ode/contact.h>

#include <ode/error.h>

#include <ode/memory.h>

#include <ode/odemath.h>

#include <ode/matrix.h>

#include <ode/timer.h>

#include <ode/rotation.h>

#include <ode/mass.h>

#include <ode/misc.h>

#include <ode/objects.h>

//#include "odecpp.h"

#include <ode/collision_space.h>

#include <ode/collision.h>

//#include "odecpp_collision.h"

struct dxPosR;

// function pointers and modes for n^2 class collider functions

struct dColliderEntry {

  dColliderFn *fn;	// collider function, 0 = no function available

  int reverse;		// 1 = reverse o1 and o2

};

// MAXNUM is the array size for events used by the test timer for debugging

// purposes. This value was decreased from 100 to 1 to reduce the amount

// of WSD used by ODE. If the timer is used ("TIMING" flag defined) then also

// this value has to be increased.

#define MAXNUM 1

struct TEventData 

    {

    unsigned long cc[2];		// clock counts

    double total_t;		// total clocks used in this slot.

    double total_p;		// total percentage points used in this slot.

    int count;			// number of times this slot has been updated.

    char *description;		// pointer to static string

    };

// struct used to overcome writable static data

struct TOdeStaticData

    {

    dxPosR* s_cachedPosR;

    int colliders_initialized;

    int num_user_classes;

    dGeomClass user_classes [dMaxUserClasses];

    dMessageFunction *error_function;

    dMessageFunction *debug_function;

    dMessageFunction *message_function;

    dAllocFunction *allocfn;

    dReallocFunction *reallocfn;

    dFreeFunction *freefn;

    int autoEnableDepth;

    int num;

    unsigned long seed;

    dColliderEntry colliders[dGeomNumClasses][dGeomNumClasses];

    bool hit;

    struct TEventData event[MAXNUM];

    };

struct TOdeStaticData* GetGlobalData();

#endif