deimos.ode.collision_space source code

1 /*************************************************************************
2  *                          D bindings for ODE                           *
3  *                                                                       *
4  *       C header port by Daniel "q66" Kolesa <quaker66@gmail.com>       *
5  *                                                                       *
6  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
7  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
8  *                                                                       *
9  * This library is free software; you can redistribute it and/or         *
10  * modify it under the terms of EITHER:                                  *
11  *   (1) The GNU Lesser General Public License as published by the Free  *
12  *       Software Foundation; either version 2.1 of the License, or (at  *
13  *       your option) any later version. The text of the GNU Lesser      *
14  *       General Public License is included with this library in the     *
15  *       file LICENSE.TXT.                                               *
16  *   (2) The BSD-style license that is included with this library in     *
17  *       the file LICENSE-BSD.TXT.                                       *
18  *                                                                       *
19  * This library is distributed in the hope that it will be useful,       *
20  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
21  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
22  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
23  *                                                                       *
24  *************************************************************************/
25 
26 module deimos.ode.collision_space;
27 
28 private import deimos.ode.common;
29 
30 extern (C):
31 nothrow:
32 
33 /**
34  * @brief User callback for geom-geom collision testing.
35  *
36  * @param data The user data object, as passed to dSpaceCollide.
37  * @param o1   The first geom being tested.
38  * @param o2   The second geom being test.
39  *
40  * @remarks The callback function can call dCollide on o1 and o2 to generate
41  * contact points between each pair. Then these contact points may be added
42  * to the simulation as contact joints. The user's callback function can of
43  * course chose not to call dCollide for any pair, e.g. if the user decides
44  * that those pairs should not interact.
45  *
46  * @ingroup collide
47  */
48 alias void function(void* data, dGeomID o1, dGeomID o2) dNearCallback;
49 
50 dSpaceID dSimpleSpaceCreate(dSpaceID space);
51 dSpaceID dHashSpaceCreate(dSpaceID space);
52 dSpaceID dQuadTreeSpaceCreate(dSpaceID space, in dVector3 Center, in dVector3 Extents, int Depth);
53 
54 
55 // SAP
56 // Order XZY or ZXY usually works best, if your Y is up.
57 enum
58 {
59     dSAP_AXES_XYZ = ((0)|(1<<2)|(2<<4)),
60     dSAP_AXES_XZY = ((0)|(2<<2)|(1<<4)),
61     dSAP_AXES_YXZ = ((1)|(0<<2)|(2<<4)),
62     dSAP_AXES_YZX = ((1)|(2<<2)|(0<<4)),
63     dSAP_AXES_ZXY = ((2)|(0<<2)|(1<<4)),
64     dSAP_AXES_ZYX = ((2)|(1<<2)|(0<<4))
65 }
66 
67 dSpaceID dSweepAndPruneSpaceCreate(dSpaceID space, int axisorder);
68 
69 void dSpaceDestroy(dSpaceID);
70 
71 void dHashSpaceSetLevels(dSpaceID space, int  minlevel, int  maxlevel);
72 void dHashSpaceGetLevels(dSpaceID space, int* minlevel, int* maxlevel);
73 
74 void dSpaceSetCleanup(dSpaceID space, int mode);
75 int  dSpaceGetCleanup(dSpaceID space);
76 
77 /**
78 * @brief Sets sublevel value for a space.
79 *
80 * Sublevel affects how the space is handled in dSpaceCollide2 when it is collided
81 * with another space. If sublevels of both spaces match, the function iterates 
82 * geometries of both spaces and collides them with each other. If sublevel of one
83 * space is greater than the sublevel of another one, only the geometries of the 
84 * space with greater sublevel are iterated, another space is passed into 
85 * collision callback as a geometry itself. By default all the spaces are assigned
86 * zero sublevel.
87 *
88 * @note
89 * The space sublevel @e IS @e NOT automatically updated when one space is inserted
90 * into another or removed from one. It is a client's responsibility to update sublevel
91 * value if necessary.
92 *
93 * @param space the space to modify
94 * @param sublevel the sublevel value to be assigned
95 * @ingroup collide
96 * @see dSpaceGetSublevel
97 * @see dSpaceCollide2
98 */
99 void dSpaceSetSublevel(dSpaceID space, int sublevel);
100 
101 /**
102 * @brief Gets sublevel value of a space.
103 *
104 * Sublevel affects how the space is handled in dSpaceCollide2 when it is collided
105 * with another space. See @c dSpaceSetSublevel for more details.
106 *
107 * @param space the space to query
108 * @returns the sublevel value of the space
109 * @ingroup collide
110 * @see dSpaceSetSublevel
111 * @see dSpaceCollide2
112 */
113 int dSpaceGetSublevel(dSpaceID space);
114 
115 
116 /**
117 * @brief Sets manual cleanup flag for a space.
118 *
119 * Manual cleanup flag marks a space as eligible for manual thread data cleanup.
120 * This function should be called for every space object right after creation in 
121 * case if ODE has been initialized with @c dInitFlagManualThreadCleanup flag.
122 * 
123 * Failure to set manual cleanup flag for a space may lead to some resources 
124 * remaining leaked until the program exit.
125 *
126 * @param space the space to modify
127 * @param mode 1 for manual cleanup mode and 0 for default cleanup mode
128 * @ingroup collide
129 * @see dSpaceGetManualCleanup
130 * @see dInitODE2
131 */
132 void dSpaceSetManualCleanup(dSpaceID space, int mode);
133 
134 /**
135 * @brief Get manual cleanup flag of a space.
136 *
137 * Manual cleanup flag marks a space space as eligible for manual thread data cleanup.
138 * See @c dSpaceSetManualCleanup for more details.
139 * 
140 * @param space the space to query
141 * @returns 1 for manual cleanup mode and 0 for default cleanup mode of the space
142 * @ingroup collide
143 * @see dSpaceSetManualCleanup
144 * @see dInitODE2
145 */
146 int dSpaceGetManualCleanup(dSpaceID space);
147 
148 void dSpaceAdd(dSpaceID, dGeomID);
149 void dSpaceRemove(dSpaceID, dGeomID);
150 int dSpaceQuery(dSpaceID, dGeomID);
151 void dSpaceClean(dSpaceID);
152 int dSpaceGetNumGeoms(dSpaceID);
153 dGeomID dSpaceGetGeom(dSpaceID, int i);
154 
155 /**
156  * @brief Given a space, this returns its class.
157  *
158  * The ODE classes are:
159  *  @li dSimpleSpaceClass
160  *  @li dHashSpaceClass
161  *  @li dSweepAndPruneSpaceClass
162  *  @li dQuadTreeSpaceClass
163  *  @li dFirstUserClass
164  *  @li dLastUserClass
165  *
166  * The class id not defined by the user should be between
167  * dFirstSpaceClass and dLastSpaceClass.
168  *
169  * User-defined class will return their own number.
170  *
171  * @param space the space to query
172  * @returns The space class ID.
173  * @ingroup collide
174  */
175 int dSpaceGetClass(dSpaceID space);