Open Dynamics Engine

collision_space.h

00001 /*************************************************************************
00002  *                                                                       *
00003  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
00005  *                                                                       *
00006  * This library is free software; you can redistribute it and/or         *
00007  * modify it under the terms of EITHER:                                  *
00008  *   (1) The GNU Lesser General Public License as published by the Free  *
00009  *       Software Foundation; either version 2.1 of the License, or (at  *
00010  *       your option) any later version. The text of the GNU Lesser      *
00011  *       General Public License is included with this library in the     *
00012  *       file LICENSE.TXT.                                               *
00013  *   (2) The BSD-style license that is included with this library in     *
00014  *       the file LICENSE-BSD.TXT.                                       *
00015  *                                                                       *
00016  * This library is distributed in the hope that it will be useful,       *
00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
00020  *                                                                       *
00021  *************************************************************************/
00022 
00023 #ifndef _ODE_COLLISION_SPACE_H_
00024 #define _ODE_COLLISION_SPACE_H_
00025 
00026 #include <ode/common.h>
00027 
00028 #ifdef __cplusplus
00029 extern "C" {
00030 #endif
00031 
00032 struct dContactGeom;
00033 
00049 typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
00050 
00051 
00052 ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space);
00053 ODE_API dSpaceID dHashSpaceCreate (dSpaceID space);
00054 ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
00055 
00056 
00057 // SAP
00058 // Order XZY or ZXY usually works best, if your Y is up.
00059 #define dSAP_AXES_XYZ  ((0)|(1<<2)|(2<<4))
00060 #define dSAP_AXES_XZY  ((0)|(2<<2)|(1<<4))
00061 #define dSAP_AXES_YXZ  ((1)|(0<<2)|(2<<4))
00062 #define dSAP_AXES_YZX  ((1)|(2<<2)|(0<<4))
00063 #define dSAP_AXES_ZXY  ((2)|(0<<2)|(1<<4))
00064 #define dSAP_AXES_ZYX  ((2)|(1<<2)|(0<<4))
00065 
00066 ODE_API dSpaceID dSweepAndPruneSpaceCreate( dSpaceID space, int axisorder );
00067 
00068 
00069 
00070 ODE_API void dSpaceDestroy (dSpaceID);
00071 
00072 ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
00073 ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);
00074 
00075 ODE_API void dSpaceSetCleanup (dSpaceID space, int mode);
00076 ODE_API int dSpaceGetCleanup (dSpaceID space);
00077 
00100 ODE_API void dSpaceSetSublevel (dSpaceID space, int sublevel);
00101 
00114 ODE_API int dSpaceGetSublevel (dSpaceID space);
00115 
00116 
00133 ODE_API void dSpaceSetManualCleanup (dSpaceID space, int mode);
00134 
00147 ODE_API int dSpaceGetManualCleanup (dSpaceID space);
00148 
00149 ODE_API void dSpaceAdd (dSpaceID, dGeomID);
00150 ODE_API void dSpaceRemove (dSpaceID, dGeomID);
00151 ODE_API int dSpaceQuery (dSpaceID, dGeomID);
00152 ODE_API void dSpaceClean (dSpaceID);
00153 ODE_API int dSpaceGetNumGeoms (dSpaceID);
00154 ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i);
00155 
00176 ODE_API int dSpaceGetClass(dSpaceID space);
00177 
00178 #ifdef __cplusplus
00179 }
00180 #endif
00181 
00182 #endif