one more for the gipper

1 files changed, 76 insertions, 0 deletions

diff --git a/libraries/ode-0.9/include/ode/collision_space.h b/libraries/ode-0.9/include/ode/collision_space.h
new file mode 100644
index 0000000..fb1f83f
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/collision_space.h
@@ -0,0 +1,76 @@
+/*************************************************************************
+ *                                                                       *
+ * 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, dVector3 Center, dVector3 Extents, int Depth);
+
+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);
+
+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);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif