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authordan miller2007-10-19 05:22:23 +0000
committerdan miller2007-10-19 05:22:23 +0000
commit1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 (patch)
tree51bcae7a1b8381a6bf6fd8025a7de1e30fe0045d /libraries/ode-0.9/include/ode/collision_space.h
parentone more for the gipper (diff)
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trying to fix my screwup, please hold on
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diff --git a/libraries/ode-0.9/include/ode/collision_space.h b/libraries/ode-0.9/include/ode/collision_space.h
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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
29extern "C" {
30#endif
31
32struct 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 */
49typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
50
51
52ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space);
53ODE_API dSpaceID dHashSpaceCreate (dSpaceID space);
54ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth);
55
56ODE_API void dSpaceDestroy (dSpaceID);
57
58ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
59ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);
60
61ODE_API void dSpaceSetCleanup (dSpaceID space, int mode);
62ODE_API int dSpaceGetCleanup (dSpaceID space);
63
64ODE_API void dSpaceAdd (dSpaceID, dGeomID);
65ODE_API void dSpaceRemove (dSpaceID, dGeomID);
66ODE_API int dSpaceQuery (dSpaceID, dGeomID);
67ODE_API void dSpaceClean (dSpaceID);
68ODE_API int dSpaceGetNumGeoms (dSpaceID);
69ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i);
70
71
72#ifdef __cplusplus
73}
74#endif
75
76#endif