1 /*************************************************************************

     2  *                                                                       *

     3  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *

     4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

     5  *                                                                       *

     6  * This library is free software; you can redistribute it and/or         *

     7  * modify it under the terms of EITHER:                                  *

     8  *   (1) The GNU Lesser General Public License as published by the Free  *

     9  *       Software Foundation; either version 2.1 of the License, or (at  *

    10  *       your option) any later version. The text of the GNU Lesser      *

    11  *       General Public License is included with this library in the     *

    12  *       file LICENSE.TXT.                                               *

    13  *   (2) The BSD-style license that is included with this library in     *

    14  *       the file LICENSE-BSD.TXT.                                       *

    15  *                                                                       *

    16  * This library is distributed in the hope that it will be useful,       *

    17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

    18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

    19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

    20  *                                                                       *

    21  *************************************************************************/

    22 

    23 #ifndef _ODE_COLLISION_SPACE_H_

    24 #define _ODE_COLLISION_SPACE_H_

    25 

    26 #include <ode/common.h>

    27 

    28 #ifdef __cplusplus

    29 extern "C" {

    30 #endif

    31 

    32 struct dContactGeom;

    33 

    34 /**

    35  * @brief User callback for geom-geom collision testing.

    36  *

    37  * @param data The user data object, as passed to dSpaceCollide.

    38  * @param o1   The first geom being tested.

    39  * @param o2   The second geom being test.

    40  *

    41  * @remarks The callback function can call dCollide on o1 and o2 to generate 

    42  * contact points between each pair. Then these contact points may be added 

    43  * to the simulation as contact joints. The user's callback function can of 

    44  * course chose not to call dCollide for any pair, e.g. if the user decides 

    45  * that those pairs should not interact.

    46  *

    47  * @ingroup collide

    48  */

    49 typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);

    50 

    51 

    52 ODE_API IMPORT_C dSpaceID dSimpleSpaceCreate (dSpaceID space);

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

    54 

    55 ODE_API IMPORT_C void dSpaceDestroy (dSpaceID);

    56 

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

    58 ODE_API IMPORT_C int dSpaceGetCleanup (dSpaceID space);

    59 

    60 ODE_API IMPORT_C void dSpaceAdd (dSpaceID, dGeomID);

    61 ODE_API IMPORT_C void dSpaceRemove (dSpaceID, dGeomID);

    62 ODE_API IMPORT_C int dSpaceQuery (dSpaceID, dGeomID);

    63 ODE_API IMPORT_C void dSpaceClean (dSpaceID);

    64 ODE_API IMPORT_C int dSpaceGetNumGeoms (dSpaceID);

    65 ODE_API IMPORT_C dGeomID dSpaceGetGeom (dSpaceID, int i);

    66 

    67 

    68 #ifdef __cplusplus

    69 }

    70 #endif

    71 

    72 #endif