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