org.ode4j.cpp.internal
Class ApiCppCollisionSpace

java.lang.Object
  org.ode4j.cpp.internal.ApiCppTimer
      org.ode4j.cpp.internal.ApiCppCollisionTrimesh
          org.ode4j.cpp.internal.ApiCppCollisionSpace

Direct Known Subclasses:

ApiCppCollision

public abstract class ApiCppCollisionSpace
extends ApiCppCollisionTrimesh

Field Summary

static int	dSAP_AXES_XYZ
static int	dSAP_AXES_XZY
static int	dSAP_AXES_YXZ
static int	dSAP_AXES_YZX
static int	dSAP_AXES_ZXY
static int	dSAP_AXES_ZYX

Constructor Summary

ApiCppCollisionSpace()

Method Summary

static DHashSpace	dHashSpaceCreate(DSpace space)
static void	dHashSpaceGetLevels(DHashSpace space, org.cpp4j.java.RefInt minlevel, org.cpp4j.java.RefInt maxlevel)
static void	dHashSpaceSetLevels(DHashSpace space, int minlevel, int maxlevel)
static DQuadTreeSpace	dQuadTreeSpaceCreate(DSpace space, DVector3C Center, DVector3C Extents, int Depth)
static DSimpleSpace	dSimpleSpaceCreate(DSpace space)
static void	dSpaceAdd(DSpace s, DGeom g)
static void	dSpaceClean(DSpace s)
static void	dSpaceDestroy(DSpace s)
static boolean	dSpaceGetCleanup(DSpace space)
static DGeom	dSpaceGetGeom(DSpace s, int i)
static int	dSpaceGetManualCleanup(DSpace space)
static int	dSpaceGetNumGeoms(DSpace s)
static int	dSpaceGetSublevel(DSpace space)
static boolean	dSpaceQuery(DSpace s, DGeom g)
static void	dSpaceRemove(DSpace s, DGeom g)
static void	dSpaceSetCleanup(DSpace space, boolean mode)
static void	dSpaceSetManualCleanup(DSpace space, int mode)
static void	dSpaceSetSublevel(DSpace space, int sublevel)
static DSpace	dSweepAndPruneSpaceCreate(DSpace space, DSapSpace.AXES axisorder)

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollisionTrimesh

dCreateTriMesh, dGeomTriMeshDataBuildSingle, dGeomTriMeshDataCreate, dGeomTriMeshDataDestroy, dGeomTriMeshSetLastTransform

Methods inherited from class org.ode4j.cpp.internal.ApiCppTimer

dTimerEnd, dTimerNow, dTimerReport, dTimerStart

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

dSAP_AXES_XYZ

public static final int dSAP_AXES_XYZ

See Also:

Constant Field Values

dSAP_AXES_XZY

public static final int dSAP_AXES_XZY

See Also:

Constant Field Values

dSAP_AXES_YXZ

public static final int dSAP_AXES_YXZ

See Also:

Constant Field Values

dSAP_AXES_YZX

public static final int dSAP_AXES_YZX

See Also:

Constant Field Values

dSAP_AXES_ZXY

public static final int dSAP_AXES_ZXY

See Also:

Constant Field Values

dSAP_AXES_ZYX

public static final int dSAP_AXES_ZYX

See Also:

Constant Field Values

Constructor Detail

ApiCppCollisionSpace

public ApiCppCollisionSpace()

Method Detail

dSimpleSpaceCreate

public static DSimpleSpace dSimpleSpaceCreate(DSpace space)

dHashSpaceCreate

public static DHashSpace dHashSpaceCreate(DSpace space)

dQuadTreeSpaceCreate

public static DQuadTreeSpace dQuadTreeSpaceCreate(DSpace space,
                                                  DVector3C Center,
                                                  DVector3C Extents,
                                                  int Depth)

dSweepAndPruneSpaceCreate

public static DSpace dSweepAndPruneSpaceCreate(DSpace space,
                                               DSapSpace.AXES axisorder)

dSpaceDestroy

public static void dSpaceDestroy(DSpace s)

dHashSpaceSetLevels

public static void dHashSpaceSetLevels(DHashSpace space,
                                       int minlevel,
                                       int maxlevel)

dHashSpaceGetLevels

public static void dHashSpaceGetLevels(DHashSpace space,
                                       org.cpp4j.java.RefInt minlevel,
                                       org.cpp4j.java.RefInt maxlevel)

dSpaceSetCleanup

public static void dSpaceSetCleanup(DSpace space,
                                    boolean mode)

dSpaceGetCleanup

public static boolean dSpaceGetCleanup(DSpace space)

dSpaceSetSublevel

public static void dSpaceSetSublevel(DSpace space,
                                     int sublevel)

Parameters:

space - the space to modify

sublevel - the sublevel value to be assigned

See Also:

dSpaceGetSublevel(DSpace), ApiCppCollision.dSpaceCollide2(DGeom, DGeom, Object, org.ode4j.ode.DGeom.DNearCallback)

Brief:

Sets sublevel value for a space. Sublevel affects how the space is handled in dSpaceCollide2 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.

dSpaceGetSublevel

public static int dSpaceGetSublevel(DSpace space)

Parameters:

space - the space to query

Returns:

the sublevel value of the space

See Also:

dSpaceSetSublevel(DSpace, int), ApiCppCollision.dSpaceCollide2(DGeom, DGeom, Object, org.ode4j.ode.DGeom.DNearCallback)

Brief:

Gets sublevel value of a space. Sublevel affects how the space is handled in dSpaceCollide2 when it is collided with another space. See @c dSpaceSetSublevel for more details.

dSpaceSetManualCleanup

public static void dSpaceSetManualCleanup(DSpace space,
                                          int mode)

Parameters:

space - the space to modify

mode - 1 for manual cleanup mode and 0 for default cleanup mode

See Also:

dSpaceGetManualCleanup(DSpace), ApiCppOdeInit.dInitODE2(int)

Brief:

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 @c dInitFlagManualThreadCleanup flag. Failure to set manual cleanup flag for a space may lead to some resources remaining leaked until the program exit.

dSpaceGetManualCleanup

public static int dSpaceGetManualCleanup(DSpace space)

Parameters:

space - the space to query

Returns:

1 for manual cleanup mode and 0 for default cleanup mode of the space

See Also:

dSpaceSetManualCleanup(DSpace, int), ApiCppOdeInit.dInitODE2(int)

Brief:

Get manual cleanup flag of a space. Manual cleanup flag marks a space space as eligible for manual thread data cleanup. See @c dSpaceSetManualCleanup for more details.

dSpaceAdd

public static void dSpaceAdd(DSpace s,
                             DGeom g)

dSpaceRemove

public static void dSpaceRemove(DSpace s,
                                DGeom g)

dSpaceQuery

public static boolean dSpaceQuery(DSpace s,
                                  DGeom g)

dSpaceClean

public static void dSpaceClean(DSpace s)

dSpaceGetNumGeoms

public static int dSpaceGetNumGeoms(DSpace s)

dSpaceGetGeom

public static DGeom dSpaceGetGeom(DSpace s,
                                  int i)