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

 *                                                                       *

 * 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 IMPORT_C dSpaceID dSimpleSpaceCreate (dSpaceID space);

ODE_API IMPORT_C dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth);

ODE_API IMPORT_C void dSpaceDestroy (dSpaceID);

ODE_API IMPORT_C void dSpaceSetCleanup (dSpaceID space, int mode);

ODE_API IMPORT_C int dSpaceGetCleanup (dSpaceID space);

ODE_API IMPORT_C void dSpaceAdd (dSpaceID, dGeomID);

ODE_API IMPORT_C void dSpaceRemove (dSpaceID, dGeomID);

ODE_API IMPORT_C int dSpaceQuery (dSpaceID, dGeomID);

ODE_API IMPORT_C void dSpaceClean (dSpaceID);

ODE_API IMPORT_C int dSpaceGetNumGeoms (dSpaceID);

ODE_API IMPORT_C dGeomID dSpaceGetGeom (dSpaceID, int i);

#ifdef __cplusplus

}

#endif

#endif