From d48ea5bb797037069d641da41da0f195f0124491 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:48 +0000 Subject: one more for the gipper --- libraries/ode-0.9/include/ode/collision_space.h | 76 +++++++++++++++++++++++++ 1 file changed, 76 insertions(+) create mode 100644 libraries/ode-0.9/include/ode/collision_space.h (limited to 'libraries/ode-0.9/include/ode/collision_space.h') 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 + +#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 -- cgit v1.1