org.ode4j.ode.DSpace Maven / Gradle / Ivy
/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: [email protected] Web: www.q12.org *
* Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke *
* All rights reserved. Email: [email protected] Web: www.ode4j.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 ODE-LICENSE-BSD.TXT and ODE4J-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, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more *
* details. *
* *
*************************************************************************/
package org.ode4j.ode;
/**
* collision space.
*/
public interface DSpace extends DGeom {
void setCleanup (boolean mode);
boolean getCleanup();
/**
* Turn all dirty geoms into clean geoms by computing their AABBs and any
* other space data structures that are required. this should clear the
* GEOM_DIRTY and GEOM_AABB_BAD flags of all geoms.
*/
void cleanGeoms();
void add (DGeom x);
void remove (DGeom x);
boolean query (DGeom x);
int getNumGeoms();
/**
*
* @param i geom id
* @return geometry object
* @deprecated Use getGeoms() instead
*/
@Deprecated
DGeom getGeom (int i);
Iterable getGeoms();
/**
* This is equivalent to OdeHelper.spaceCollide(...)
* @param data data
* @param callback callback
*/
void collide (Object data, DNearCallback callback);
/**
* Sets manual cleanup flag for a space.
*
* Manual cleanup flag marks a space as eligible for manual thread data cleanup.
* This function should be called for every space object right after creation in
* case if ODE has been initialized with dInitFlagManualThreadCleanup flag.
*
* Failure to set manual cleanup flag for a space may lead to some resources
* remaining leaked until the program exit.
*
* @param mode 1 for manual cleanup mode and 0 for default cleanup mode
* @see #setManualCleanup(int)
* @see OdeHelper#initODE2(int)
*/
void setManualCleanup(int mode);
/**
* Get manual cleanup flag of a space.
*
* Manual cleanup flag marks a space space as eligible for manual thread data cleanup.
* See setManualCleanup for more details.
*
* @return 1 for manual cleanup mode and 0 for default cleanup mode of the space
* @see #setManualCleanup(int)
* @see OdeHelper#initODE2(int)
*/
int getManualCleanup();
/**
* Sets sublevel value for a space.
*
* Sublevel affects how the space is handled in spaceCollide2 when it is collided
* with another space. If sublevels of both spaces match, the function iterates
* geometries of both spaces and collides them with each other. If sublevel of one
* space is greater than the sublevel of another one, only the geometries of the
* space with greater sublevel are iterated, another space is passed into
* collision callback as a geometry itself. By default all the spaces are assigned
* zero sublevel.
*
*
NOTE:
* The space sublevel IS NOT automatically updated when one space is inserted
* into another or removed from one. It is a client's responsibility to update sublevel
* value if necessary.
*
* @param sublevel the sublevel value to be assigned
* @see #getSublevel()
* @see OdeHelper#spaceCollide2(DGeom, DGeom, Object, org.ode4j.ode.DGeom.DNearCallback)
*/
void setSublevel (int sublevel);
/**
* Gets sublevel value of a space.
*
* Sublevel affects how the space is handled in spaceCollide2 when it is collided
* with another space. See setSublevel for more details.
*
* @return the sublevel value of the space
* @see #setSublevel(int)
* @see OdeHelper#spaceCollide2(DGeom, DGeom, Object, org.ode4j.ode.DGeom.DNearCallback)
*/
int getSublevel ();
}