/************************************************************************* * * * Open Dynamics Engine, Copyright (C) 2001,2002 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. * * * *************************************************************************/ /* Library initialization/finalization functions. */ #ifndef _ODE_ODEINIT_H_ #define _ODE_ODEINIT_H_ #include #ifdef __cplusplus extern "C" { #endif /* ************************************************************************ */ /* Library initialization */ /** * @defgroup init Library Initialization * * Library initialization functions prepare ODE internal data structures for use * and release allocated resources after ODE is not needed any more. */ /** * @brief Library initialization flags. * * These flags define ODE library initialization options. * * @c dInitFlagManualThreadCleanup indicates that resources allocated in TLS for threads * using ODE are to be cleared by library client with explicit call to @c dCleanupODEAllDataForThread. * If this flag is not specified the automatic resource tracking algorithm is used. * * With automatic resource tracking, On Windows, memory allocated for a thread may * remain not freed for some time after the thread exits. The resources may be * released when one of other threads calls @c dAllocateODEDataForThread. Ultimately, * the resources are released when library is closed with @c dCloseODE. On other * operating systems resources are always released by the thread itself on its exit * or on library closure with @c dCloseODE. * * With manual thread data cleanup mode every collision space object must be * explicitly switched to manual cleanup mode with @c dSpaceSetManualCleanup * after creation. See description of the function for more details. * * If @c dInitFlagManualThreadCleanup was not specified during initialization, * calls to @c dCleanupODEAllDataForThread are not allowed. * * @see dInitODE2 * @see dAllocateODEDataForThread * @see dSpaceSetManualCleanup * @see dCloseODE * @ingroup init */ enum dInitODEFlags { dInitFlagManualThreadCleanup = 0x00000001 /*@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call*/ }; /** * @brief Initializes ODE library. * * @c dInitODE is obsolete. @c dInitODE2 is to be used for library initialization. * * A call to @c dInitODE is equal to the following initialization sequence * @code * dInitODE2(0); * dAllocateODEDataForThread(dAllocateMaskAll); * @endcode * * @see dInitODE2 * @see dAllocateODEDataForThread * @ingroup init */ ODE_API void dInitODE(void); /** * @brief Initializes ODE library. * @param uiInitFlags Initialization options bitmask * @return A nonzero if initialization succeeded and zero otherwise. * * This function must be called to initialize ODE library before first use. If * initialization succeeds the function may not be called again until library is * closed with a call to @c dCloseODE. * * The @a uiInitFlags parameter specifies initialization options to be used. These * can be combination of zero or more @c dInitODEFlags flags. * * @note * If @c dInitFlagManualThreadCleanup flag is used for initialization, * @c dSpaceSetManualCleanup must be called to set manual cleanup mode for every * space object right after creation. Failure to do so may lead to resource leaks. * * @see dInitODEFlags * @see dCloseODE * @see dSpaceSetManualCleanup * @ingroup init */ ODE_API int dInitODE2(unsigned int uiInitFlags/*=0*/); /** * @brief ODE data allocation flags. * * These flags are used to indicate which data is to be pre-allocated in call to * @c dAllocateODEDataForThread. * * @c dAllocateFlagBasicData tells to allocate the basic data set required for * normal library operation. This flag is equal to zero and is always implicitly * included. * * @c dAllocateFlagCollisionData tells that collision detection data is to be allocated. * Collision detection functions may not be called if the data has not be allocated * in advance. If collision detection is not going to be used, it is not necessary * to specify this flag. * * @c dAllocateMaskAll is a mask that can be used for for allocating all possible * data in cases when it is not known what exactly features of ODE will be used. * The mask may not be used in combination with other flags. It is guaranteed to * include all the current and future legal allocation flags. However, mature * applications should use explicit flags they need rather than allocating everything. * * @see dAllocateODEDataForThread * @ingroup init */ enum dAllocateODEDataFlags { dAllocateFlagBasicData = 0, /*@< Allocate basic data required for library to operate*/ dAllocateFlagCollisionData = 0x00000001, /*@< Allocate data for collision detection*/ dAllocateMaskAll = ~0 /*@< Allocate all the possible data that is currently defined or will be defined in the future.*/ }; /** * @brief Allocate thread local data to allow the thread calling ODE. * @param uiAllocateFlags Allocation options bitmask. * @return A nonzero if allocation succeeded and zero otherwise. * * The function is required to be called for every thread that is going to use * ODE. This function allocates the data that is required for accessing ODE from * current thread along with optional data required for particular ODE subsystems. * * @a uiAllocateFlags parameter can contain zero or more flags from @c dAllocateODEDataFlags * enumerated type. Multiple calls with different allocation flags are allowed. * The flags that are already allocated are ignored in subsequent calls. If zero * is passed as the parameter, it means to only allocate the set of most important * data the library can not operate without. * * If the function returns failure status it means that none of the requested * data has been allocated. The client may retry allocation attempt with the same * flags when more system resources are available. * * @see dAllocateODEDataFlags * @see dCleanupODEAllDataForThread * @ingroup init */ ODE_API int dAllocateODEDataForThread(unsigned int uiAllocateFlags); /** * @brief Free thread local data that was allocated for current thread. * * If library was initialized with @c dInitFlagManualThreadCleanup flag the function * is required to be called on exit of every thread that was calling @c dAllocateODEDataForThread. * Failure to call @c dCleanupODEAllDataForThread may result in some resources remaining * not freed until program exit. The function may also be called when ODE is still * being used to release resources allocated for all the current subsystems and * possibly proceed with data pre-allocation for other subsystems. * * The function can safely be called several times in a row. The function can be * called without prior invocation of @c dAllocateODEDataForThread. The function * may not be called before ODE is initialized with @c dInitODE2 or after library * has been closed with @c dCloseODE. A call to @c dCloseODE implicitly releases * all the thread local resources that might be allocated for all the threads that * were using ODE. * * If library was initialized without @c dInitFlagManualThreadCleanup flag * @c dCleanupODEAllDataForThread must not be called. * * @see dAllocateODEDataForThread * @see dInitODE2 * @see dCloseODE * @ingroup init */ ODE_API void dCleanupODEAllDataForThread(); /** * @brief Close ODE after it is not needed any more. * * The function is required to be called when program does not need ODE features any more. * The call to @c dCloseODE releases all the resources allocated for library * including all the thread local data that might be allocated for all the threads * that were using ODE. * * @c dCloseODE is a paired function for @c dInitODE2 and must only be called * after successful library initialization. * * @note Important! * Make sure that all the threads that were using ODE have already terminated * before calling @c dCloseODE. In particular it is not allowed to call * @c dCleanupODEAllDataForThread after @c dCloseODE. * * @see dInitODE2 * @see dCleanupODEAllDataForThread * @ingroup init */ ODE_API void dCloseODE(void); #ifdef __cplusplus } /* extern "C" */ #endif #endif /* _ODE_ODEINIT_H_ */