2 Copyright (C) 1996-1997 Id Software, Inc.
4 This program is free software; you can redistribute it and/or
5 modify it under the terms of the GNU General Public License
6 as published by the Free Software Foundation; either version 2
7 of the License, or (at your option) any later version.
9 This program is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
13 See the GNU General Public License for more details.
15 You should have received a copy of the GNU General Public License
16 along with this program; if not, write to the Free Software
17 Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
20 // world.c -- world query functions
26 entities never clip against themselves, or their owner
28 line of sight checks trace->inopen and trace->inwater, but bullets don't
32 static void World_Physics_Init(void);
39 static void World_Physics_Shutdown(void);
40 void World_Shutdown(void)
42 World_Physics_Shutdown();
45 static void World_Physics_Start(world_t *world);
46 void World_Start(world_t *world)
48 World_Physics_Start(world);
51 static void World_Physics_End(world_t *world);
52 void World_End(world_t *world)
54 World_Physics_End(world);
57 //============================================================================
59 /// World_ClearLink is used for new headnodes
60 void World_ClearLink (link_t *l)
63 l->prev = l->next = l;
66 void World_RemoveLink (link_t *l)
68 l->next->prev = l->prev;
69 l->prev->next = l->next;
72 void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
74 l->entitynumber = entitynumber;
76 l->prev = before->prev;
82 ===============================================================================
86 ===============================================================================
89 void World_PrintAreaStats(world_t *world, const char *worldname)
91 Con_Printf("%s areagrid check stats: %d calls %d nodes (%f per call) %d entities (%f per call)\n", worldname, world->areagrid_stats_calls, world->areagrid_stats_nodechecks, (double) world->areagrid_stats_nodechecks / (double) world->areagrid_stats_calls, world->areagrid_stats_entitychecks, (double) world->areagrid_stats_entitychecks / (double) world->areagrid_stats_calls);
92 world->areagrid_stats_calls = 0;
93 world->areagrid_stats_nodechecks = 0;
94 world->areagrid_stats_entitychecks = 0;
103 void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs)
107 strlcpy(world->filename, filename, sizeof(world->filename));
108 VectorCopy(mins, world->mins);
109 VectorCopy(maxs, world->maxs);
111 // the areagrid_marknumber is not allowed to be 0
112 if (world->areagrid_marknumber < 1)
113 world->areagrid_marknumber = 1;
114 // choose either the world box size, or a larger box to ensure the grid isn't too fine
115 world->areagrid_size[0] = max(world->areagrid_maxs[0] - world->areagrid_mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
116 world->areagrid_size[1] = max(world->areagrid_maxs[1] - world->areagrid_mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
117 world->areagrid_size[2] = max(world->areagrid_maxs[2] - world->areagrid_mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
118 // figure out the corners of such a box, centered at the center of the world box
119 world->areagrid_mins[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] - world->areagrid_size[0]) * 0.5f;
120 world->areagrid_mins[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] - world->areagrid_size[1]) * 0.5f;
121 world->areagrid_mins[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] - world->areagrid_size[2]) * 0.5f;
122 world->areagrid_maxs[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] + world->areagrid_size[0]) * 0.5f;
123 world->areagrid_maxs[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] + world->areagrid_size[1]) * 0.5f;
124 world->areagrid_maxs[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] + world->areagrid_size[2]) * 0.5f;
125 // now calculate the actual useful info from that
126 VectorNegate(world->areagrid_mins, world->areagrid_bias);
127 world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
128 world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
129 world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
130 World_ClearLink(&world->areagrid_outside);
131 for (i = 0;i < AREA_GRIDNODES;i++)
132 World_ClearLink(&world->areagrid[i]);
133 if (developer.integer >= 10)
134 Con_Printf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value);
143 void World_UnlinkAll(world_t *world)
147 // unlink all entities one by one
148 grid = &world->areagrid_outside;
149 while (grid->next != grid)
150 World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
151 for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
152 while (grid->next != grid)
153 World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
161 void World_UnlinkEdict(prvm_edict_t *ent)
164 for (i = 0;i < ENTITYGRIDAREAS;i++)
166 if (ent->priv.server->areagrid[i].prev)
168 World_RemoveLink (&ent->priv.server->areagrid[i]);
169 ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL;
174 int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, prvm_edict_t **list)
180 int igrid[3], igridmins[3], igridmaxs[3];
182 // FIXME: if areagrid_marknumber wraps, all entities need their
183 // ent->priv.server->areagridmarknumber reset
184 world->areagrid_stats_calls++;
185 world->areagrid_marknumber++;
186 igridmins[0] = (int) floor((mins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
187 igridmins[1] = (int) floor((mins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
188 //igridmins[2] = (int) ((mins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
189 igridmaxs[0] = (int) floor((maxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
190 igridmaxs[1] = (int) floor((maxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
191 //igridmaxs[2] = (int) ((maxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
192 igridmins[0] = max(0, igridmins[0]);
193 igridmins[1] = max(0, igridmins[1]);
194 //igridmins[2] = max(0, igridmins[2]);
195 igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
196 igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
197 //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
200 // add entities not linked into areagrid because they are too big or
201 // outside the grid bounds
202 if (world->areagrid_outside.next != &world->areagrid_outside)
204 grid = &world->areagrid_outside;
205 for (l = grid->next;l != grid;l = l->next)
207 ent = PRVM_EDICT_NUM(l->entitynumber);
208 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
210 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
211 if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
213 if (numlist < maxlist)
217 world->areagrid_stats_entitychecks++;
221 // add grid linked entities
222 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
224 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
225 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
227 if (grid->next != grid)
229 for (l = grid->next;l != grid;l = l->next)
231 ent = PRVM_EDICT_NUM(l->entitynumber);
232 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
234 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
235 if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
237 if (numlist < maxlist)
241 //Con_Printf("%d %f %f %f %f %f %f : %d : %f %f %f %f %f %f\n", BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs), ent->priv.server->areamins[0], ent->priv.server->areamins[1], ent->priv.server->areamins[2], ent->priv.server->areamaxs[0], ent->priv.server->areamaxs[1], ent->priv.server->areamaxs[2], PRVM_NUM_FOR_EDICT(ent), mins[0], mins[1], mins[2], maxs[0], maxs[1], maxs[2]);
243 world->areagrid_stats_entitychecks++;
251 void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
254 int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
256 if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
258 Con_Printf ("World_LinkEdict_AreaGrid: invalid edict %p (edicts is %p, edict compared to prog->edicts is %i)\n", (void *)ent, (void *)prog->edicts, entitynumber);
262 igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
263 igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
264 //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
265 igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
266 igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
267 //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
268 if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
270 // wow, something outside the grid, store it as such
271 World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
276 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
278 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
279 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
280 World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
290 void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
292 // unlink from old position first
293 if (ent->priv.server->areagrid[0].prev)
294 World_UnlinkEdict(ent);
296 // don't add the world
297 if (ent == prog->edicts)
300 // don't add free entities
301 if (ent->priv.server->free)
304 VectorCopy(mins, ent->priv.server->areamins);
305 VectorCopy(maxs, ent->priv.server->areamaxs);
306 World_LinkEdict_AreaGrid(world, ent);
312 //============================================================================
313 // physics engine support
314 //============================================================================
316 cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
317 cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"};
318 cvar_t physics_ode_worldquickstep = {0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStepFast1 or dWorldStep"};
319 cvar_t physics_ode_worldquickstep_iterations = {0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"};
320 cvar_t physics_ode_worldstepfast = {0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"};
321 cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"};
322 cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
323 cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
324 cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
325 cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
326 cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"};
327 cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
329 // LordHavoc: this large chunk of definitions comes from the ODE library
333 //#define ODE_DYNAMIC 1
336 #if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
345 #define ODE_API WINAPI
350 // note: dynamic builds of ODE tend to be double precision, this is not used
352 typedef double dReal;
354 typedef dReal dVector3[4];
355 typedef dReal dVector4[4];
356 typedef dReal dMatrix3[4*3];
357 typedef dReal dMatrix4[4*4];
358 typedef dReal dMatrix6[8*6];
359 typedef dReal dQuaternion[4];
361 struct dxWorld; /* dynamics world */
362 struct dxSpace; /* collision space */
363 struct dxBody; /* rigid body (dynamics object) */
364 struct dxGeom; /* geometry (collision object) */
368 struct dxTriMeshData;
370 typedef struct dxWorld *dWorldID;
371 typedef struct dxSpace *dSpaceID;
372 typedef struct dxBody *dBodyID;
373 typedef struct dxGeom *dGeomID;
374 typedef struct dxJoint *dJointID;
375 typedef struct dxJointGroup *dJointGroupID;
376 typedef struct dxTriMeshData *dTriMeshDataID;
378 typedef struct dJointFeedback
380 dVector3 f1; /* force applied to body 1 */
381 dVector3 t1; /* torque applied to body 1 */
382 dVector3 f2; /* force applied to body 2 */
383 dVector3 t2; /* torque applied to body 2 */
387 typedef enum dJointType
418 dContactFDir1 = 0x002,
419 dContactBounce = 0x004,
420 dContactSoftERP = 0x008,
421 dContactSoftCFM = 0x010,
422 dContactMotion1 = 0x020,
423 dContactMotion2 = 0x040,
424 dContactMotionN = 0x080,
425 dContactSlip1 = 0x100,
426 dContactSlip2 = 0x200,
428 dContactApprox0 = 0x0000,
429 dContactApprox1_1 = 0x1000,
430 dContactApprox1_2 = 0x2000,
431 dContactApprox1 = 0x3000
434 typedef struct dSurfaceParameters
436 /* must always be defined */
440 /* only defined if the corresponding flag is set in mode */
446 dReal motion1,motion2,motionN;
448 } dSurfaceParameters;
450 typedef struct dContactGeom
452 dVector3 pos; ///< contact position
453 dVector3 normal; ///< normal vector
454 dReal depth; ///< penetration depth
455 dGeomID g1,g2; ///< the colliding geoms
456 int side1,side2; ///< (to be documented)
460 typedef struct dContact
462 dSurfaceParameters surface;
468 typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
471 // Order XZY or ZXY usually works best, if your Y is up.
472 #define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
473 #define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
474 #define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
475 #define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
476 #define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
477 #define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
479 ODE_API const char* (*dGetConfiguration)(void);
480 ODE_API int (*dCheckConfiguration)( const char* token );
481 ODE_API int (*dInitODE2)(unsigned int uiInitFlags);
482 ODE_API int (*dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
483 ODE_API void (*dCleanupODEAllDataForThread)(void);
484 ODE_API void (*dCloseODE)(void);
486 //ODE_API int (*dMassCheck)(const dMass *m);
487 //ODE_API void (*dMassSetZero)(dMass *);
488 //ODE_API void (*dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
489 //ODE_API void (*dMassSetSphere)(dMass *, dReal density, dReal radius);
490 ODE_API void (*dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
491 //ODE_API void (*dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
492 ODE_API void (*dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
493 //ODE_API void (*dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
494 //ODE_API void (*dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
495 //ODE_API void (*dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
496 ODE_API void (*dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
497 //ODE_API void (*dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
498 //ODE_API void (*dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
499 //ODE_API void (*dMassAdjust)(dMass *, dReal newmass);
500 //ODE_API void (*dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
501 //ODE_API void (*dMassRotate)(dMass *, const dMatrix3 R);
502 //ODE_API void (*dMassAdd)(dMass *a, const dMass *b);
504 ODE_API dWorldID (*dWorldCreate)(void);
505 ODE_API void (*dWorldDestroy)(dWorldID world);
506 ODE_API void (*dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
507 //ODE_API void (*dWorldGetGravity)(dWorldID, dVector3 gravity);
508 //ODE_API void (*dWorldSetERP)(dWorldID, dReal erp);
509 //ODE_API dReal (*dWorldGetERP)(dWorldID);
510 //ODE_API void (*dWorldSetCFM)(dWorldID, dReal cfm);
511 //ODE_API dReal (*dWorldGetCFM)(dWorldID);
512 ODE_API void (*dWorldStep)(dWorldID, dReal stepsize);
513 //ODE_API void (*dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
514 ODE_API void (*dWorldQuickStep)(dWorldID w, dReal stepsize);
515 ODE_API void (*dWorldSetQuickStepNumIterations)(dWorldID, int num);
516 //ODE_API int (*dWorldGetQuickStepNumIterations)(dWorldID);
517 //ODE_API void (*dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
518 //ODE_API dReal (*dWorldGetQuickStepW)(dWorldID);
519 //ODE_API void (*dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
520 //ODE_API dReal (*dWorldGetContactMaxCorrectingVel)(dWorldID);
521 ODE_API void (*dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
522 //ODE_API dReal (*dWorldGetContactSurfaceLayer)(dWorldID);
523 ODE_API void (*dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
524 //ODE_API void (*dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
525 //ODE_API int (*dWorldGetAutoEnableDepthSF1)(dWorldID);
526 //ODE_API dReal (*dWorldGetAutoDisableLinearThreshold)(dWorldID);
527 //ODE_API void (*dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
528 //ODE_API dReal (*dWorldGetAutoDisableAngularThreshold)(dWorldID);
529 //ODE_API void (*dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
530 //ODE_API dReal (*dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
531 //ODE_API void (*dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
532 //ODE_API dReal (*dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
533 //ODE_API void (*dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
534 //ODE_API int (*dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
535 //ODE_API void (*dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
536 //ODE_API int (*dWorldGetAutoDisableSteps)(dWorldID);
537 //ODE_API void (*dWorldSetAutoDisableSteps)(dWorldID, int steps);
538 //ODE_API dReal (*dWorldGetAutoDisableTime)(dWorldID);
539 //ODE_API void (*dWorldSetAutoDisableTime)(dWorldID, dReal time);
540 //ODE_API int (*dWorldGetAutoDisableFlag)(dWorldID);
541 //ODE_API void (*dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
542 //ODE_API dReal (*dWorldGetLinearDampingThreshold)(dWorldID w);
543 //ODE_API void (*dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
544 //ODE_API dReal (*dWorldGetAngularDampingThreshold)(dWorldID w);
545 //ODE_API void (*dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
546 //ODE_API dReal (*dWorldGetLinearDamping)(dWorldID w);
547 //ODE_API void (*dWorldSetLinearDamping)(dWorldID w, dReal scale);
548 //ODE_API dReal (*dWorldGetAngularDamping)(dWorldID w);
549 //ODE_API void (*dWorldSetAngularDamping)(dWorldID w, dReal scale);
550 //ODE_API void (*dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
551 //ODE_API dReal (*dWorldGetMaxAngularSpeed)(dWorldID w);
552 //ODE_API void (*dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
553 //ODE_API dReal (*dBodyGetAutoDisableLinearThreshold)(dBodyID);
554 //ODE_API void (*dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
555 //ODE_API dReal (*dBodyGetAutoDisableAngularThreshold)(dBodyID);
556 //ODE_API void (*dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
557 //ODE_API int (*dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
558 //ODE_API void (*dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
559 //ODE_API int (*dBodyGetAutoDisableSteps)(dBodyID);
560 //ODE_API void (*dBodySetAutoDisableSteps)(dBodyID, int steps);
561 //ODE_API dReal (*dBodyGetAutoDisableTime)(dBodyID);
562 //ODE_API void (*dBodySetAutoDisableTime)(dBodyID, dReal time);
563 //ODE_API int (*dBodyGetAutoDisableFlag)(dBodyID);
564 //ODE_API void (*dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
565 //ODE_API void (*dBodySetAutoDisableDefaults)(dBodyID);
566 //ODE_API dWorldID (*dBodyGetWorld)(dBodyID);
567 ODE_API dBodyID (*dBodyCreate)(dWorldID);
568 ODE_API void (*dBodyDestroy)(dBodyID);
569 ODE_API void (*dBodySetData)(dBodyID, void *data);
570 //ODE_API void * (*dBodyGetData)(dBodyID);
571 ODE_API void (*dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
572 ODE_API void (*dBodySetRotation)(dBodyID, const dMatrix3 R);
573 //ODE_API void (*dBodySetQuaternion)(dBodyID, const dQuaternion q);
574 ODE_API void (*dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
575 ODE_API void (*dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
576 ODE_API const dReal * (*dBodyGetPosition)(dBodyID);
577 //ODE_API void (*dBodyCopyPosition)(dBodyID body, dVector3 pos);
578 ODE_API const dReal * (*dBodyGetRotation)(dBodyID);
579 //ODE_API void (*dBodyCopyRotation)(dBodyID, dMatrix3 R);
580 //ODE_API const dReal * (*dBodyGetQuaternion)(dBodyID);
581 //ODE_API void (*dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
582 ODE_API const dReal * (*dBodyGetLinearVel)(dBodyID);
583 ODE_API const dReal * (*dBodyGetAngularVel)(dBodyID);
584 ODE_API void (*dBodySetMass)(dBodyID, const dMass *mass);
585 //ODE_API void (*dBodyGetMass)(dBodyID, dMass *mass);
586 //ODE_API void (*dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
587 //ODE_API void (*dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
588 //ODE_API void (*dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
589 //ODE_API void (*dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
590 //ODE_API void (*dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
591 //ODE_API void (*dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
592 //ODE_API void (*dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
593 //ODE_API void (*dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
594 //ODE_API const dReal * (*dBodyGetForce)(dBodyID);
595 //ODE_API const dReal * (*dBodyGetTorque)(dBodyID);
596 //ODE_API void (*dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
597 //ODE_API void (*dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
598 //ODE_API void (*dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
599 //ODE_API void (*dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
600 //ODE_API void (*dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
601 //ODE_API void (*dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
602 //ODE_API void (*dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
603 //ODE_API void (*dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
604 //ODE_API void (*dBodySetFiniteRotationMode)(dBodyID, int mode);
605 //ODE_API void (*dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
606 //ODE_API int (*dBodyGetFiniteRotationMode)(dBodyID);
607 //ODE_API void (*dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
608 //ODE_API int (*dBodyGetNumJoints)(dBodyID b);
609 //ODE_API dJointID (*dBodyGetJoint)(dBodyID, int index);
610 //ODE_API void (*dBodySetDynamic)(dBodyID);
611 //ODE_API void (*dBodySetKinematic)(dBodyID);
612 //ODE_API int (*dBodyIsKinematic)(dBodyID);
613 //ODE_API void (*dBodyEnable)(dBodyID);
614 //ODE_API void (*dBodyDisable)(dBodyID);
615 //ODE_API int (*dBodyIsEnabled)(dBodyID);
616 //ODE_API void (*dBodySetGravityMode)(dBodyID b, int mode);
617 //ODE_API int (*dBodyGetGravityMode)(dBodyID b);
618 //ODE_API void (*dBodySetMovedCallback)(dBodyID b, void(*callback)(dBodyID));
619 //ODE_API dGeomID (*dBodyGetFirstGeom)(dBodyID b);
620 //ODE_API dGeomID (*dBodyGetNextGeom)(dGeomID g);
621 //ODE_API void (*dBodySetDampingDefaults)(dBodyID b);
622 //ODE_API dReal (*dBodyGetLinearDamping)(dBodyID b);
623 //ODE_API void (*dBodySetLinearDamping)(dBodyID b, dReal scale);
624 //ODE_API dReal (*dBodyGetAngularDamping)(dBodyID b);
625 //ODE_API void (*dBodySetAngularDamping)(dBodyID b, dReal scale);
626 //ODE_API void (*dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
627 //ODE_API dReal (*dBodyGetLinearDampingThreshold)(dBodyID b);
628 //ODE_API void (*dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
629 //ODE_API dReal (*dBodyGetAngularDampingThreshold)(dBodyID b);
630 //ODE_API void (*dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
631 //ODE_API dReal (*dBodyGetMaxAngularSpeed)(dBodyID b);
632 //ODE_API void (*dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
633 //ODE_API int (*dBodyGetGyroscopicMode)(dBodyID b);
634 //ODE_API void (*dBodySetGyroscopicMode)(dBodyID b, int enabled);
635 //ODE_API dJointID (*dJointCreateBall)(dWorldID, dJointGroupID);
636 //ODE_API dJointID (*dJointCreateHinge)(dWorldID, dJointGroupID);
637 //ODE_API dJointID (*dJointCreateSlider)(dWorldID, dJointGroupID);
638 ODE_API dJointID (*dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
639 //ODE_API dJointID (*dJointCreateHinge2)(dWorldID, dJointGroupID);
640 //ODE_API dJointID (*dJointCreateUniversal)(dWorldID, dJointGroupID);
641 //ODE_API dJointID (*dJointCreatePR)(dWorldID, dJointGroupID);
642 //ODE_API dJointID (*dJointCreatePU)(dWorldID, dJointGroupID);
643 //ODE_API dJointID (*dJointCreatePiston)(dWorldID, dJointGroupID);
644 //ODE_API dJointID (*dJointCreateFixed)(dWorldID, dJointGroupID);
645 //ODE_API dJointID (*dJointCreateNull)(dWorldID, dJointGroupID);
646 //ODE_API dJointID (*dJointCreateAMotor)(dWorldID, dJointGroupID);
647 //ODE_API dJointID (*dJointCreateLMotor)(dWorldID, dJointGroupID);
648 //ODE_API dJointID (*dJointCreatePlane2D)(dWorldID, dJointGroupID);
649 //ODE_API void (*dJointDestroy)(dJointID);
650 ODE_API dJointGroupID (*dJointGroupCreate)(int max_size);
651 ODE_API void (*dJointGroupDestroy)(dJointGroupID);
652 ODE_API void (*dJointGroupEmpty)(dJointGroupID);
653 //ODE_API int (*dJointGetNumBodies)(dJointID);
654 ODE_API void (*dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
655 //ODE_API void (*dJointEnable)(dJointID);
656 //ODE_API void (*dJointDisable)(dJointID);
657 //ODE_API int (*dJointIsEnabled)(dJointID);
658 //ODE_API void (*dJointSetData)(dJointID, void *data);
659 //ODE_API void * (*dJointGetData)(dJointID);
660 //ODE_API dJointType (*dJointGetType)(dJointID);
661 //ODE_API dBodyID (*dJointGetBody)(dJointID, int index);
662 //ODE_API void (*dJointSetFeedback)(dJointID, dJointFeedback *);
663 //ODE_API dJointFeedback *(*dJointGetFeedback)(dJointID);
664 //ODE_API void (*dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
665 //ODE_API void (*dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
666 //ODE_API void (*dJointSetBallParam)(dJointID, int parameter, dReal value);
667 //ODE_API void (*dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
668 //ODE_API void (*dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
669 //ODE_API void (*dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
670 //ODE_API void (*dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
671 //ODE_API void (*dJointSetHingeParam)(dJointID, int parameter, dReal value);
672 //ODE_API void (*dJointAddHingeTorque)(dJointID joint, dReal torque);
673 //ODE_API void (*dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
674 //ODE_API void (*dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
675 //ODE_API void (*dJointSetSliderParam)(dJointID, int parameter, dReal value);
676 //ODE_API void (*dJointAddSliderForce)(dJointID joint, dReal force);
677 //ODE_API void (*dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
678 //ODE_API void (*dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
679 //ODE_API void (*dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
680 //ODE_API void (*dJointSetHinge2Param)(dJointID, int parameter, dReal value);
681 //ODE_API void (*dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
682 //ODE_API void (*dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
683 //ODE_API void (*dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
684 //ODE_API void (*dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
685 //ODE_API void (*dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
686 //ODE_API void (*dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
687 //ODE_API void (*dJointSetUniversalParam)(dJointID, int parameter, dReal value);
688 //ODE_API void (*dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
689 //ODE_API void (*dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
690 //ODE_API void (*dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
691 //ODE_API void (*dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
692 //ODE_API void (*dJointSetPRParam)(dJointID, int parameter, dReal value);
693 //ODE_API void (*dJointAddPRTorque)(dJointID j, dReal torque);
694 //ODE_API void (*dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
695 //ODE_API void (*dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
696 //ODE_API void (*dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
697 //ODE_API void (*dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
698 //ODE_API void (*dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
699 //ODE_API void (*dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
700 //ODE_API void (*dJointSetPUParam)(dJointID, int parameter, dReal value);
701 //ODE_API void (*dJointAddPUTorque)(dJointID j, dReal torque);
702 //ODE_API void (*dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
703 //ODE_API void (*dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
704 //ODE_API void (*dJointSetPistonParam)(dJointID, int parameter, dReal value);
705 //ODE_API void (*dJointAddPistonForce)(dJointID joint, dReal force);
706 //ODE_API void (*dJointSetFixed)(dJointID);
707 //ODE_API void (*dJointSetFixedParam)(dJointID, int parameter, dReal value);
708 //ODE_API void (*dJointSetAMotorNumAxes)(dJointID, int num);
709 //ODE_API void (*dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
710 //ODE_API void (*dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
711 //ODE_API void (*dJointSetAMotorParam)(dJointID, int parameter, dReal value);
712 //ODE_API void (*dJointSetAMotorMode)(dJointID, int mode);
713 //ODE_API void (*dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
714 //ODE_API void (*dJointSetLMotorNumAxes)(dJointID, int num);
715 //ODE_API void (*dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
716 //ODE_API void (*dJointSetLMotorParam)(dJointID, int parameter, dReal value);
717 //ODE_API void (*dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
718 //ODE_API void (*dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
719 //ODE_API void (*dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
720 //ODE_API void (*dJointGetBallAnchor)(dJointID, dVector3 result);
721 //ODE_API void (*dJointGetBallAnchor2)(dJointID, dVector3 result);
722 //ODE_API dReal (*dJointGetBallParam)(dJointID, int parameter);
723 //ODE_API void (*dJointGetHingeAnchor)(dJointID, dVector3 result);
724 //ODE_API void (*dJointGetHingeAnchor2)(dJointID, dVector3 result);
725 //ODE_API void (*dJointGetHingeAxis)(dJointID, dVector3 result);
726 //ODE_API dReal (*dJointGetHingeParam)(dJointID, int parameter);
727 //ODE_API dReal (*dJointGetHingeAngle)(dJointID);
728 //ODE_API dReal (*dJointGetHingeAngleRate)(dJointID);
729 //ODE_API dReal (*dJointGetSliderPosition)(dJointID);
730 //ODE_API dReal (*dJointGetSliderPositionRate)(dJointID);
731 //ODE_API void (*dJointGetSliderAxis)(dJointID, dVector3 result);
732 //ODE_API dReal (*dJointGetSliderParam)(dJointID, int parameter);
733 //ODE_API void (*dJointGetHinge2Anchor)(dJointID, dVector3 result);
734 //ODE_API void (*dJointGetHinge2Anchor2)(dJointID, dVector3 result);
735 //ODE_API void (*dJointGetHinge2Axis1)(dJointID, dVector3 result);
736 //ODE_API void (*dJointGetHinge2Axis2)(dJointID, dVector3 result);
737 //ODE_API dReal (*dJointGetHinge2Param)(dJointID, int parameter);
738 //ODE_API dReal (*dJointGetHinge2Angle1)(dJointID);
739 //ODE_API dReal (*dJointGetHinge2Angle1Rate)(dJointID);
740 //ODE_API dReal (*dJointGetHinge2Angle2Rate)(dJointID);
741 //ODE_API void (*dJointGetUniversalAnchor)(dJointID, dVector3 result);
742 //ODE_API void (*dJointGetUniversalAnchor2)(dJointID, dVector3 result);
743 //ODE_API void (*dJointGetUniversalAxis1)(dJointID, dVector3 result);
744 //ODE_API void (*dJointGetUniversalAxis2)(dJointID, dVector3 result);
745 //ODE_API dReal (*dJointGetUniversalParam)(dJointID, int parameter);
746 //ODE_API void (*dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
747 //ODE_API dReal (*dJointGetUniversalAngle1)(dJointID);
748 //ODE_API dReal (*dJointGetUniversalAngle2)(dJointID);
749 //ODE_API dReal (*dJointGetUniversalAngle1Rate)(dJointID);
750 //ODE_API dReal (*dJointGetUniversalAngle2Rate)(dJointID);
751 //ODE_API void (*dJointGetPRAnchor)(dJointID, dVector3 result);
752 //ODE_API dReal (*dJointGetPRPosition)(dJointID);
753 //ODE_API dReal (*dJointGetPRPositionRate)(dJointID);
754 //ODE_API dReal (*dJointGetPRAngle)(dJointID);
755 //ODE_API dReal (*dJointGetPRAngleRate)(dJointID);
756 //ODE_API void (*dJointGetPRAxis1)(dJointID, dVector3 result);
757 //ODE_API void (*dJointGetPRAxis2)(dJointID, dVector3 result);
758 //ODE_API dReal (*dJointGetPRParam)(dJointID, int parameter);
759 //ODE_API void (*dJointGetPUAnchor)(dJointID, dVector3 result);
760 //ODE_API dReal (*dJointGetPUPosition)(dJointID);
761 //ODE_API dReal (*dJointGetPUPositionRate)(dJointID);
762 //ODE_API void (*dJointGetPUAxis1)(dJointID, dVector3 result);
763 //ODE_API void (*dJointGetPUAxis2)(dJointID, dVector3 result);
764 //ODE_API void (*dJointGetPUAxis3)(dJointID, dVector3 result);
765 //ODE_API void (*dJointGetPUAxisP)(dJointID id, dVector3 result);
766 //ODE_API void (*dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
767 //ODE_API dReal (*dJointGetPUAngle1)(dJointID);
768 //ODE_API dReal (*dJointGetPUAngle1Rate)(dJointID);
769 //ODE_API dReal (*dJointGetPUAngle2)(dJointID);
770 //ODE_API dReal (*dJointGetPUAngle2Rate)(dJointID);
771 //ODE_API dReal (*dJointGetPUParam)(dJointID, int parameter);
772 //ODE_API dReal (*dJointGetPistonPosition)(dJointID);
773 //ODE_API dReal (*dJointGetPistonPositionRate)(dJointID);
774 //ODE_API dReal (*dJointGetPistonAngle)(dJointID);
775 //ODE_API dReal (*dJointGetPistonAngleRate)(dJointID);
776 //ODE_API void (*dJointGetPistonAnchor)(dJointID, dVector3 result);
777 //ODE_API void (*dJointGetPistonAnchor2)(dJointID, dVector3 result);
778 //ODE_API void (*dJointGetPistonAxis)(dJointID, dVector3 result);
779 //ODE_API dReal (*dJointGetPistonParam)(dJointID, int parameter);
780 //ODE_API int (*dJointGetAMotorNumAxes)(dJointID);
781 //ODE_API void (*dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
782 //ODE_API int (*dJointGetAMotorAxisRel)(dJointID, int anum);
783 //ODE_API dReal (*dJointGetAMotorAngle)(dJointID, int anum);
784 //ODE_API dReal (*dJointGetAMotorAngleRate)(dJointID, int anum);
785 //ODE_API dReal (*dJointGetAMotorParam)(dJointID, int parameter);
786 //ODE_API int (*dJointGetAMotorMode)(dJointID);
787 //ODE_API int (*dJointGetLMotorNumAxes)(dJointID);
788 //ODE_API void (*dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
789 //ODE_API dReal (*dJointGetLMotorParam)(dJointID, int parameter);
790 //ODE_API dReal (*dJointGetFixedParam)(dJointID, int parameter);
791 //ODE_API dJointID (*dConnectingJoint)(dBodyID, dBodyID);
792 //ODE_API int (*dConnectingJointList)(dBodyID, dBodyID, dJointID*);
793 ODE_API int (*dAreConnected)(dBodyID, dBodyID);
794 ODE_API int (*dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
796 ODE_API dSpaceID (*dSimpleSpaceCreate)(dSpaceID space);
797 ODE_API dSpaceID (*dHashSpaceCreate)(dSpaceID space);
798 ODE_API dSpaceID (*dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
799 ODE_API dSpaceID (*dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
800 ODE_API void (*dSpaceDestroy)(dSpaceID);
801 //ODE_API void (*dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
802 //ODE_API void (*dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
803 //ODE_API void (*dSpaceSetCleanup)(dSpaceID space, int mode);
804 //ODE_API int (*dSpaceGetCleanup)(dSpaceID space);
805 //ODE_API void (*dSpaceSetSublevel)(dSpaceID space, int sublevel);
806 //ODE_API int (*dSpaceGetSublevel)(dSpaceID space);
807 //ODE_API void (*dSpaceSetManualCleanup)(dSpaceID space, int mode);
808 //ODE_API int (*dSpaceGetManualCleanup)(dSpaceID space);
809 //ODE_API void (*dSpaceAdd)(dSpaceID, dGeomID);
810 //ODE_API void (*dSpaceRemove)(dSpaceID, dGeomID);
811 //ODE_API int (*dSpaceQuery)(dSpaceID, dGeomID);
812 //ODE_API void (*dSpaceClean)(dSpaceID);
813 //ODE_API int (*dSpaceGetNumGeoms)(dSpaceID);
814 //ODE_API dGeomID (*dSpaceGetGeom)(dSpaceID, int i);
815 //ODE_API int (*dSpaceGetClass)(dSpaceID space);
817 ODE_API void (*dGeomDestroy)(dGeomID geom);
818 //ODE_API void (*dGeomSetData)(dGeomID geom, void* data);
819 //ODE_API void * (*dGeomGetData)(dGeomID geom);
820 ODE_API void (*dGeomSetBody)(dGeomID geom, dBodyID body);
821 ODE_API dBodyID (*dGeomGetBody)(dGeomID geom);
822 //ODE_API void (*dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
823 ODE_API void (*dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
824 //ODE_API void (*dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
825 //ODE_API const dReal * (*dGeomGetPosition)(dGeomID geom);
826 //ODE_API void (*dGeomCopyPosition)(dGeomID geom, dVector3 pos);
827 //ODE_API const dReal * (*dGeomGetRotation)(dGeomID geom);
828 //ODE_API void (*dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
829 //ODE_API void (*dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
830 //ODE_API void (*dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
831 ODE_API int (*dGeomIsSpace)(dGeomID geom);
832 //ODE_API dSpaceID (*dGeomGetSpace)(dGeomID);
833 //ODE_API int (*dGeomGetClass)(dGeomID geom);
834 //ODE_API void (*dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
835 //ODE_API void (*dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
836 //ODE_API unsigned long (*dGeomGetCategoryBits)(dGeomID);
837 //ODE_API unsigned long (*dGeomGetCollideBits)(dGeomID);
838 //ODE_API void (*dGeomEnable)(dGeomID geom);
839 //ODE_API void (*dGeomDisable)(dGeomID geom);
840 //ODE_API int (*dGeomIsEnabled)(dGeomID geom);
841 //ODE_API void (*dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
842 //ODE_API void (*dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
843 //ODE_API void (*dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
844 //ODE_API void (*dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
845 //ODE_API void (*dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
846 //ODE_API void (*dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
847 //ODE_API void (*dGeomClearOffset)(dGeomID geom);
848 //ODE_API int (*dGeomIsOffset)(dGeomID geom);
849 //ODE_API const dReal * (*dGeomGetOffsetPosition)(dGeomID geom);
850 //ODE_API void (*dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
851 //ODE_API const dReal * (*dGeomGetOffsetRotation)(dGeomID geom);
852 //ODE_API void (*dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
853 //ODE_API void (*dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
854 ODE_API int (*dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
856 ODE_API void (*dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
857 ODE_API void (*dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
859 ODE_API dGeomID (*dCreateSphere)(dSpaceID space, dReal radius);
860 //ODE_API void (*dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
861 //ODE_API dReal (*dGeomSphereGetRadius)(dGeomID sphere);
862 //ODE_API dReal (*dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
864 //ODE_API dGeomID (*dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
865 //ODE_API void (*dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
867 ODE_API dGeomID (*dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
868 //ODE_API void (*dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
869 //ODE_API void (*dGeomBoxGetLengths)(dGeomID box, dVector3 result);
870 //ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
871 //ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
873 //ODE_API dGeomID (*dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
874 //ODE_API void (*dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
875 //ODE_API void (*dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
876 //ODE_API dReal (*dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
878 ODE_API dGeomID (*dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
879 //ODE_API void (*dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
880 //ODE_API void (*dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
881 //ODE_API dReal (*dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
883 //ODE_API dGeomID (*dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
884 //ODE_API void (*dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
885 //ODE_API void (*dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
887 //ODE_API dGeomID (*dCreateRay)(dSpaceID space, dReal length);
888 //ODE_API void (*dGeomRaySetLength)(dGeomID ray, dReal length);
889 //ODE_API dReal (*dGeomRayGetLength)(dGeomID ray);
890 //ODE_API void (*dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
891 //ODE_API void (*dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
893 ODE_API dGeomID (*dCreateGeomTransform)(dSpaceID space);
894 ODE_API void (*dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
895 //ODE_API dGeomID (*dGeomTransformGetGeom)(dGeomID g);
896 ODE_API void (*dGeomTransformSetCleanup)(dGeomID g, int mode);
897 //ODE_API int (*dGeomTransformGetCleanup)(dGeomID g);
898 //ODE_API void (*dGeomTransformSetInfo)(dGeomID g, int mode);
899 //ODE_API int (*dGeomTransformGetInfo)(dGeomID g);
901 enum { TRIMESH_FACE_NORMALS };
902 typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
903 typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
904 typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
905 typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
907 ODE_API dTriMeshDataID (*dGeomTriMeshDataCreate)(void);
908 ODE_API void (*dGeomTriMeshDataDestroy)(dTriMeshDataID g);
909 //ODE_API void (*dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
910 //ODE_API void* (*dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
911 //ODE_API void (*dGeomTriMeshSetLastTransform)( (*dGeomID g, dMatrix4 last_trans );
912 //ODE_API dReal* (*dGeomTriMeshGetLastTransform)( (*dGeomID g );
913 ODE_API void (*dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
914 //ODE_API void (*dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
915 //ODE_API void (*dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
916 //ODE_API void (*dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
917 //ODE_API void (*dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
918 //ODE_API void (*dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
919 //ODE_API void (*dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
920 //ODE_API void (*dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
921 //ODE_API void (*dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
922 //ODE_API void (*dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
923 //ODE_API dTriCallback* (*dGeomTriMeshGetCallback)(dGeomID g);
924 //ODE_API void (*dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
925 //ODE_API dTriArrayCallback* (*dGeomTriMeshGetArrayCallback)(dGeomID g);
926 //ODE_API void (*dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
927 //ODE_API dTriRayCallback* (*dGeomTriMeshGetRayCallback)(dGeomID g);
928 //ODE_API void (*dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
929 //ODE_API dTriTriMergeCallback* (*dGeomTriMeshGetTriMergeCallback)(dGeomID g);
930 ODE_API dGeomID (*dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
931 //ODE_API void (*dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
932 //ODE_API dTriMeshDataID (*dGeomTriMeshGetData)(dGeomID g);
933 //ODE_API void (*dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
934 //ODE_API int (*dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
935 //ODE_API void (*dGeomTriMeshClearTCCache)(dGeomID g);
936 //ODE_API dTriMeshDataID (*dGeomTriMeshGetTriMeshDataID)(dGeomID g);
937 //ODE_API void (*dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
938 //ODE_API void (*dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
939 //ODE_API int (*dGeomTriMeshGetTriangleCount )(dGeomID g);
940 //ODE_API void (*dGeomTriMeshDataUpdate)(dTriMeshDataID g);
942 static dllfunction_t odefuncs[] =
944 {"dGetConfiguration", (void **) &dGetConfiguration},
945 {"dCheckConfiguration", (void **) &dCheckConfiguration},
946 {"dInitODE2", (void **) &dInitODE2},
947 {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
948 {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
949 {"dCloseODE", (void **) &dCloseODE},
950 // {"dMassCheck", (void **) &dMassCheck},
951 // {"dMassSetZero", (void **) &dMassSetZero},
952 // {"dMassSetParameters", (void **) &dMassSetParameters},
953 // {"dMassSetSphere", (void **) &dMassSetSphere},
954 {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal},
955 // {"dMassSetCapsule", (void **) &dMassSetCapsule},
956 {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal},
957 // {"dMassSetCylinder", (void **) &dMassSetCylinder},
958 // {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
959 // {"dMassSetBox", (void **) &dMassSetBox},
960 {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal},
961 // {"dMassSetTrimesh", (void **) &dMassSetTrimesh},
962 // {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal},
963 // {"dMassAdjust", (void **) &dMassAdjust},
964 // {"dMassTranslate", (void **) &dMassTranslate},
965 // {"dMassRotate", (void **) &dMassRotate},
966 // {"dMassAdd", (void **) &dMassAdd},
968 {"dWorldCreate", (void **) &dWorldCreate},
969 {"dWorldDestroy", (void **) &dWorldDestroy},
970 {"dWorldSetGravity", (void **) &dWorldSetGravity},
971 // {"dWorldGetGravity", (void **) &dWorldGetGravity},
972 // {"dWorldSetERP", (void **) &dWorldSetERP},
973 // {"dWorldGetERP", (void **) &dWorldGetERP},
974 // {"dWorldSetCFM", (void **) &dWorldSetCFM},
975 // {"dWorldGetCFM", (void **) &dWorldGetCFM},
976 {"dWorldStep", (void **) &dWorldStep},
977 // {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
978 {"dWorldQuickStep", (void **) &dWorldQuickStep},
979 {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations},
980 // {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations},
981 // {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW},
982 // {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW},
983 // {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel},
984 // {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel},
985 {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer},
986 // {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer},
987 {"dWorldStepFast1", (void **) &dWorldStepFast1},
988 // {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1},
989 // {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1},
990 // {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold},
991 // {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
992 // {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
993 // {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
994 // {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
995 // {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
996 // {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
997 // {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
998 // {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
999 // {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
1000 // {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
1001 // {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
1002 // {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
1003 // {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
1004 // {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
1005 // {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
1006 // {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
1007 // {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
1008 // {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
1009 // {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
1010 // {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
1011 // {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
1012 // {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
1013 // {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
1014 // {"dWorldSetDamping", (void **) &dWorldSetDamping},
1015 // {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed},
1016 // {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed},
1017 // {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold},
1018 // {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold},
1019 // {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold},
1020 // {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold},
1021 // {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount},
1022 // {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount},
1023 // {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps},
1024 // {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps},
1025 // {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime},
1026 // {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime},
1027 // {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag},
1028 // {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag},
1029 // {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults},
1030 // {"dBodyGetWorld", (void **) &dBodyGetWorld},
1031 {"dBodyCreate", (void **) &dBodyCreate},
1032 {"dBodyDestroy", (void **) &dBodyDestroy},
1033 {"dBodySetData", (void **) &dBodySetData},
1034 // {"dBodyGetData", (void **) &dBodyGetData},
1035 {"dBodySetPosition", (void **) &dBodySetPosition},
1036 {"dBodySetRotation", (void **) &dBodySetRotation},
1037 // {"dBodySetQuaternion", (void **) &dBodySetQuaternion},
1038 {"dBodySetLinearVel", (void **) &dBodySetLinearVel},
1039 {"dBodySetAngularVel", (void **) &dBodySetAngularVel},
1040 {"dBodyGetPosition", (void **) &dBodyGetPosition},
1041 // {"dBodyCopyPosition", (void **) &dBodyCopyPosition},
1042 {"dBodyGetRotation", (void **) &dBodyGetRotation},
1043 // {"dBodyCopyRotation", (void **) &dBodyCopyRotation},
1044 // {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion},
1045 // {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion},
1046 {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel},
1047 {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
1048 {"dBodySetMass", (void **) &dBodySetMass},
1049 // {"dBodyGetMass", (void **) &dBodyGetMass},
1050 // {"dBodyAddForce", (void **) &dBodyAddForce},
1051 // {"dBodyAddTorque", (void **) &dBodyAddTorque},
1052 // {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
1053 // {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
1054 // {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
1055 // {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
1056 // {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
1057 // {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
1058 // {"dBodyGetForce", (void **) &dBodyGetForce},
1059 // {"dBodyGetTorque", (void **) &dBodyGetTorque},
1060 // {"dBodySetForce", (void **) &dBodySetForce},
1061 // {"dBodySetTorque", (void **) &dBodySetTorque},
1062 // {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos},
1063 // {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel},
1064 // {"dBodyGetPointVel", (void **) &dBodyGetPointVel},
1065 // {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint},
1066 // {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld},
1067 // {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld},
1068 // {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode},
1069 // {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis},
1070 // {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode},
1071 // {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis},
1072 // {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints},
1073 // {"dBodyGetJoint", (void **) &dBodyGetJoint},
1074 // {"dBodySetDynamic", (void **) &dBodySetDynamic},
1075 // {"dBodySetKinematic", (void **) &dBodySetKinematic},
1076 // {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
1077 // {"dBodyEnable", (void **) &dBodyEnable},
1078 // {"dBodyDisable", (void **) &dBodyDisable},
1079 // {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
1080 // {"dBodySetGravityMode", (void **) &dBodySetGravityMode},
1081 // {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
1082 // {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
1083 // {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom},
1084 // {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
1085 // {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
1086 // {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
1087 // {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
1088 // {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
1089 // {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
1090 // {"dBodySetDamping", (void **) &dBodySetDamping},
1091 // {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
1092 // {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
1093 // {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
1094 // {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
1095 // {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
1096 // {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
1097 // {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
1098 // {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
1099 // {"dJointCreateBall", (void **) &dJointCreateBall},
1100 // {"dJointCreateHinge", (void **) &dJointCreateHinge},
1101 // {"dJointCreateSlider", (void **) &dJointCreateSlider},
1102 {"dJointCreateContact", (void **) &dJointCreateContact},
1103 // {"dJointCreateHinge2", (void **) &dJointCreateHinge2},
1104 // {"dJointCreateUniversal", (void **) &dJointCreateUniversal},
1105 // {"dJointCreatePR", (void **) &dJointCreatePR},
1106 // {"dJointCreatePU", (void **) &dJointCreatePU},
1107 // {"dJointCreatePiston", (void **) &dJointCreatePiston},
1108 // {"dJointCreateFixed", (void **) &dJointCreateFixed},
1109 // {"dJointCreateNull", (void **) &dJointCreateNull},
1110 // {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
1111 // {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
1112 // {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D},
1113 // {"dJointDestroy", (void **) &dJointDestroy},
1114 {"dJointGroupCreate", (void **) &dJointGroupCreate},
1115 {"dJointGroupDestroy", (void **) &dJointGroupDestroy},
1116 {"dJointGroupEmpty", (void **) &dJointGroupEmpty},
1117 // {"dJointGetNumBodies", (void **) &dJointGetNumBodies},
1118 {"dJointAttach", (void **) &dJointAttach},
1119 // {"dJointEnable", (void **) &dJointEnable},
1120 // {"dJointDisable", (void **) &dJointDisable},
1121 // {"dJointIsEnabled", (void **) &dJointIsEnabled},
1122 // {"dJointSetData", (void **) &dJointSetData},
1123 // {"dJointGetData", (void **) &dJointGetData},
1124 // {"dJointGetType", (void **) &dJointGetType},
1125 // {"dJointGetBody", (void **) &dJointGetBody},
1126 // {"dJointSetFeedback", (void **) &dJointSetFeedback},
1127 // {"dJointGetFeedback", (void **) &dJointGetFeedback},
1128 // {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor},
1129 // {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2},
1130 // {"dJointSetBallParam", (void **) &dJointSetBallParam},
1131 // {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor},
1132 // {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta},
1133 // {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis},
1134 // {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset},
1135 // {"dJointSetHingeParam", (void **) &dJointSetHingeParam},
1136 // {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque},
1137 // {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis},
1138 // {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta},
1139 // {"dJointSetSliderParam", (void **) &dJointSetSliderParam},
1140 // {"dJointAddSliderForce", (void **) &dJointAddSliderForce},
1141 // {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor},
1142 // {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1},
1143 // {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2},
1144 // {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param},
1145 // {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques},
1146 // {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor},
1147 // {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1},
1148 // {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset},
1149 // {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2},
1150 // {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset},
1151 // {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam},
1152 // {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques},
1153 // {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor},
1154 // {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1},
1155 // {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2},
1156 // {"dJointSetPRParam", (void **) &dJointSetPRParam},
1157 // {"dJointAddPRTorque", (void **) &dJointAddPRTorque},
1158 // {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor},
1159 // {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset},
1160 // {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1},
1161 // {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2},
1162 // {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3},
1163 // {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP},
1164 // {"dJointSetPUParam", (void **) &dJointSetPUParam},
1165 // {"dJointAddPUTorque", (void **) &dJointAddPUTorque},
1166 // {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor},
1167 // {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset},
1168 // {"dJointSetPistonParam", (void **) &dJointSetPistonParam},
1169 // {"dJointAddPistonForce", (void **) &dJointAddPistonForce},
1170 // {"dJointSetFixed", (void **) &dJointSetFixed},
1171 // {"dJointSetFixedParam", (void **) &dJointSetFixedParam},
1172 // {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes},
1173 // {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis},
1174 // {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle},
1175 // {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam},
1176 // {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode},
1177 // {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques},
1178 // {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes},
1179 // {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis},
1180 // {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam},
1181 // {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam},
1182 // {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam},
1183 // {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam},
1184 // {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor},
1185 // {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2},
1186 // {"dJointGetBallParam", (void **) &dJointGetBallParam},
1187 // {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor},
1188 // {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2},
1189 // {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis},
1190 // {"dJointGetHingeParam", (void **) &dJointGetHingeParam},
1191 // {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle},
1192 // {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate},
1193 // {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition},
1194 // {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate},
1195 // {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis},
1196 // {"dJointGetSliderParam", (void **) &dJointGetSliderParam},
1197 // {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor},
1198 // {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2},
1199 // {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1},
1200 // {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2},
1201 // {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param},
1202 // {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1},
1203 // {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate},
1204 // {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate},
1205 // {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor},
1206 // {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2},
1207 // {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1},
1208 // {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2},
1209 // {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam},
1210 // {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles},
1211 // {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1},
1212 // {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2},
1213 // {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate},
1214 // {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate},
1215 // {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor},
1216 // {"dJointGetPRPosition", (void **) &dJointGetPRPosition},
1217 // {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate},
1218 // {"dJointGetPRAngle", (void **) &dJointGetPRAngle},
1219 // {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate},
1220 // {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1},
1221 // {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2},
1222 // {"dJointGetPRParam", (void **) &dJointGetPRParam},
1223 // {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor},
1224 // {"dJointGetPUPosition", (void **) &dJointGetPUPosition},
1225 // {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate},
1226 // {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1},
1227 // {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2},
1228 // {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3},
1229 // {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP},
1230 // {"dJointGetPUAngles", (void **) &dJointGetPUAngles},
1231 // {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1},
1232 // {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate},
1233 // {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2},
1234 // {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate},
1235 // {"dJointGetPUParam", (void **) &dJointGetPUParam},
1236 // {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition},
1237 // {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate},
1238 // {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle},
1239 // {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate},
1240 // {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor},
1241 // {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2},
1242 // {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis},
1243 // {"dJointGetPistonParam", (void **) &dJointGetPistonParam},
1244 // {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes},
1245 // {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis},
1246 // {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel},
1247 // {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle},
1248 // {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate},
1249 // {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam},
1250 // {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode},
1251 // {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes},
1252 // {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis},
1253 // {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam},
1254 // {"dJointGetFixedParam", (void **) &dJointGetFixedParam},
1255 // {"dConnectingJoint", (void **) &dConnectingJoint},
1256 // {"dConnectingJointList", (void **) &dConnectingJointList},
1257 {"dAreConnected", (void **) &dAreConnected},
1258 {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding},
1259 {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate},
1260 {"dHashSpaceCreate", (void **) &dHashSpaceCreate},
1261 {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate},
1262 {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
1263 {"dSpaceDestroy", (void **) &dSpaceDestroy},
1264 // {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels},
1265 // {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels},
1266 // {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup},
1267 // {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup},
1268 // {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel},
1269 // {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel},
1270 // {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup},
1271 // {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup},
1272 // {"dSpaceAdd", (void **) &dSpaceAdd},
1273 // {"dSpaceRemove", (void **) &dSpaceRemove},
1274 // {"dSpaceQuery", (void **) &dSpaceQuery},
1275 // {"dSpaceClean", (void **) &dSpaceClean},
1276 // {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms},
1277 // {"dSpaceGetGeom", (void **) &dSpaceGetGeom},
1278 // {"dSpaceGetClass", (void **) &dSpaceGetClass},
1279 {"dGeomDestroy", (void **) &dGeomDestroy},
1280 // {"dGeomSetData", (void **) &dGeomSetData},
1281 // {"dGeomGetData", (void **) &dGeomGetData},
1282 {"dGeomSetBody", (void **) &dGeomSetBody},
1283 {"dGeomGetBody", (void **) &dGeomGetBody},
1284 // {"dGeomSetPosition", (void **) &dGeomSetPosition},
1285 {"dGeomSetRotation", (void **) &dGeomSetRotation},
1286 // {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
1287 // {"dGeomGetPosition", (void **) &dGeomGetPosition},
1288 // {"dGeomCopyPosition", (void **) &dGeomCopyPosition},
1289 // {"dGeomGetRotation", (void **) &dGeomGetRotation},
1290 // {"dGeomCopyRotation", (void **) &dGeomCopyRotation},
1291 // {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion},
1292 // {"dGeomGetAABB", (void **) &dGeomGetAABB},
1293 {"dGeomIsSpace", (void **) &dGeomIsSpace},
1294 // {"dGeomGetSpace", (void **) &dGeomGetSpace},
1295 // {"dGeomGetClass", (void **) &dGeomGetClass},
1296 // {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits},
1297 // {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits},
1298 // {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits},
1299 // {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits},
1300 // {"dGeomEnable", (void **) &dGeomEnable},
1301 // {"dGeomDisable", (void **) &dGeomDisable},
1302 // {"dGeomIsEnabled", (void **) &dGeomIsEnabled},
1303 // {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition},
1304 // {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation},
1305 // {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion},
1306 // {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition},
1307 // {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation},
1308 // {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion},
1309 // {"dGeomClearOffset", (void **) &dGeomClearOffset},
1310 // {"dGeomIsOffset", (void **) &dGeomIsOffset},
1311 // {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition},
1312 // {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition},
1313 // {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation},
1314 // {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation},
1315 // {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion},
1316 {"dCollide", (void **) &dCollide},
1317 {"dSpaceCollide", (void **) &dSpaceCollide},
1318 {"dSpaceCollide2", (void **) &dSpaceCollide2},
1319 {"dCreateSphere", (void **) &dCreateSphere},
1320 // {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
1321 // {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
1322 // {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
1323 // {"dCreateConvex", (void **) &dCreateConvex},
1324 // {"dGeomSetConvex", (void **) &dGeomSetConvex},
1325 {"dCreateBox", (void **) &dCreateBox},
1326 // {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
1327 // {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths},
1328 // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1329 // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1330 // {"dCreatePlane", (void **) &dCreatePlane},
1331 // {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams},
1332 // {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams},
1333 // {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth},
1334 {"dCreateCapsule", (void **) &dCreateCapsule},
1335 // {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams},
1336 // {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams},
1337 // {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth},
1338 // {"dCreateCylinder", (void **) &dCreateCylinder},
1339 // {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams},
1340 // {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams},
1341 // {"dCreateRay", (void **) &dCreateRay},
1342 // {"dGeomRaySetLength", (void **) &dGeomRaySetLength},
1343 // {"dGeomRayGetLength", (void **) &dGeomRayGetLength},
1344 // {"dGeomRaySet", (void **) &dGeomRaySet},
1345 // {"dGeomRayGet", (void **) &dGeomRayGet},
1346 {"dCreateGeomTransform", (void **) &dCreateGeomTransform},
1347 {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom},
1348 // {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom},
1349 {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup},
1350 // {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup},
1351 // {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo},
1352 // {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo},
1353 {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate},
1354 {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy},
1355 // {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet},
1356 // {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet},
1357 // {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform},
1358 // {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform},
1359 {"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle},
1360 // {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1},
1361 // {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble},
1362 // {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1},
1363 // {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple},
1364 // {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1},
1365 // {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess},
1366 // {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer},
1367 // {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer},
1368 // {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback},
1369 // {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback},
1370 // {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback},
1371 // {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback},
1372 // {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback},
1373 // {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback},
1374 // {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback},
1375 // {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback},
1376 {"dCreateTriMesh", (void **) &dCreateTriMesh},
1377 // {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData},
1378 // {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData},
1379 // {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC},
1380 // {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled},
1381 // {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache},
1382 // {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID},
1383 // {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle},
1384 // {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint},
1385 // {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount},
1386 // {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate},
1390 // Handle for ODE DLL
1391 dllhandle_t ode_dll = NULL;
1395 static void World_Physics_Init(void)
1399 const char* dllnames [] =
1403 # elif defined(WIN32)
1405 # elif defined(MACOSX)
1414 Cvar_RegisterVariable(&physics_ode_quadtree_depth);
1415 Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
1416 Cvar_RegisterVariable(&physics_ode_worldquickstep);
1417 Cvar_RegisterVariable(&physics_ode_worldquickstep_iterations);
1418 Cvar_RegisterVariable(&physics_ode_worldstepfast);
1419 Cvar_RegisterVariable(&physics_ode_worldstepfast_iterations);
1420 Cvar_RegisterVariable(&physics_ode_contact_mu);
1421 Cvar_RegisterVariable(&physics_ode_contact_erp);
1422 Cvar_RegisterVariable(&physics_ode_contact_cfm);
1423 Cvar_RegisterVariable(&physics_ode_iterationsperframe);
1424 Cvar_RegisterVariable(&physics_ode_movelimit);
1425 Cvar_RegisterVariable(&physics_ode_spinlimit);
1429 if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
1435 if (!dCheckConfiguration("ODE_single_precision"))
1437 if (!dCheckConfiguration("ODE_double_precision"))
1441 Con_Printf("ode library not compiled for single precision - incompatible! Not using ODE physics.\n");
1443 Con_Printf("ode library not compiled for double precision - incompatible! Not using ODE physics.\n");
1445 Sys_UnloadLibrary(ode_dll);
1453 static void World_Physics_Shutdown(void)
1462 Sys_UnloadLibrary(ode_dll);
1470 static void World_Physics_EnableODE(world_t *world)
1472 dVector3 center, extents;
1473 if (world->physics.ode)
1479 world->physics.ode = true;
1480 VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
1481 VectorSubtract(world->maxs, center, extents);
1482 world->physics.ode_world = dWorldCreate();
1483 world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
1484 world->physics.ode_contactgroup = dJointGroupCreate(0);
1485 // we don't currently set dWorldSetCFM or dWorldSetERP because the defaults seem fine
1489 static void World_Physics_Start(world_t *world)
1492 if (world->physics.ode)
1494 World_Physics_EnableODE(world);
1498 static void World_Physics_End(world_t *world)
1501 if (world->physics.ode)
1503 dWorldDestroy(world->physics.ode_world);
1504 dSpaceDestroy(world->physics.ode_space);
1505 dJointGroupDestroy(world->physics.ode_contactgroup);
1506 world->physics.ode = false;
1511 void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
1514 // entity is not physics controlled, free any physics data
1515 ed->priv.server->ode_physics = false;
1516 if (ed->priv.server->ode_geom)
1517 dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
1518 ed->priv.server->ode_geom = NULL;
1519 if (ed->priv.server->ode_body)
1520 dBodyDestroy((dBodyID)ed->priv.server->ode_body);
1521 ed->priv.server->ode_body = NULL;
1522 if (ed->priv.server->ode_vertex3f)
1523 Mem_Free(ed->priv.server->ode_vertex3f);
1524 ed->priv.server->ode_vertex3f = NULL;
1525 ed->priv.server->ode_numvertices = 0;
1526 if (ed->priv.server->ode_element3i)
1527 Mem_Free(ed->priv.server->ode_element3i);
1528 ed->priv.server->ode_element3i = NULL;
1529 ed->priv.server->ode_numtriangles = 0;
1534 static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
1538 const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
1540 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1542 matrix4x4_t bodymatrix;
1543 matrix4x4_t entitymatrix;
1545 vec3_t forward, left, up;
1547 vec3_t spinvelocity;
1551 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
1552 movetype = (int)val->_float;
1553 if (movetype != MOVETYPE_PHYSICS)
1555 // store the physics engine data into the entity
1556 o = dBodyGetPosition(body);
1557 r = dBodyGetRotation(body);
1558 vel = dBodyGetLinearVel(body);
1559 avel = dBodyGetAngularVel(body);
1560 VectorCopy(o, origin);
1570 VectorCopy(vel, velocity);
1571 VectorCopy(avel, spinvelocity);
1572 Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
1573 Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
1574 Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
1575 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector);
1576 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector);
1577 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector);
1578 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector);
1579 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector);
1580 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
1581 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) AnglesFromVectors(val->vector, forward, up, true);
1584 static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
1588 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1592 dVector3 capsulerot[3];
1615 vec3_t spinvelocity;
1620 vec_t massval = 1.0f;
1628 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);
1629 solid = (int)val->_float;
1630 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
1631 movetype = (int)val->_float;
1635 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex);
1636 modelindex = (int)val->_float;
1637 if (world == &sv.world && modelindex >= 1 && modelindex < MAX_MODELS)
1639 model = sv.models[modelindex];
1640 mempool = sv_mempool;
1642 else if (world == &cl.world && modelindex >= 1 && modelindex < MAX_MODELS)
1644 model = cl.model_precache[modelindex];
1645 mempool = cls.levelmempool;
1655 VectorCopy(model->normalmins, entmins);
1656 VectorCopy(model->normalmaxs, entmaxs);
1657 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
1666 //case SOLID_SLIDEBOX:
1668 case SOLID_PHYSICS_BOX:
1669 case SOLID_PHYSICS_SPHERE:
1670 case SOLID_PHYSICS_CAPSULE:
1671 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mins);if (val) VectorCopy(val->vector, entmins);
1672 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.maxs);if (val) VectorCopy(val->vector, entmaxs);
1673 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
1676 if (ed->priv.server->ode_physics)
1677 World_Physics_RemoveFromEntity(world, ed);
1681 VectorSubtract(entmaxs, entmins, geomsize);
1682 if (VectorLength2(geomsize) == 0)
1684 // we don't allow point-size physics objects...
1685 if (ed->priv.server->ode_physics)
1686 World_Physics_RemoveFromEntity(world, ed);
1690 if (movetype != MOVETYPE_PHYSICS)
1693 // check if we need to create or replace the geom
1694 if (!ed->priv.server->ode_physics
1695 || !VectorCompare(ed->priv.server->ode_mins, entmins)
1696 || !VectorCompare(ed->priv.server->ode_maxs, entmaxs)
1697 || ed->priv.server->ode_mass != massval
1698 || ed->priv.server->ode_modelindex != modelindex)
1700 World_Physics_RemoveFromEntity(world, ed);
1701 ed->priv.server->ode_physics = true;
1702 VectorCopy(entmins, ed->priv.server->ode_mins);
1703 VectorCopy(entmaxs, ed->priv.server->ode_maxs);
1704 ed->priv.server->ode_mass = massval;
1705 ed->priv.server->ode_modelindex = modelindex;
1706 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
1707 ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
1709 if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
1711 if (movetype == MOVETYPE_PHYSICS)
1712 Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
1714 VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
1720 ed->priv.server->ode_offsetmatrix = identitymatrix;
1723 Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
1726 // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
1727 if (!model->brush.collisionmesh)
1728 Mod_CreateCollisionMesh(model);
1729 if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles)
1731 Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
1734 // ODE requires persistent mesh storage, so we need to copy out
1735 // the data from the model because renderer restarts could free it
1736 // during the game, additionally we need to flip the triangles...
1737 // note: ODE does preprocessing of the mesh for culling, removing
1738 // concave edges, etc., so this is not a lightweight operation
1739 ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
1740 ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
1741 for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
1743 ov[0] = iv[0] - geomcenter[0];
1744 ov[1] = iv[1] - geomcenter[1];
1745 ov[2] = iv[2] - geomcenter[2];
1747 ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
1748 ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
1749 //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
1750 for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
1756 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
1757 // now create the geom
1758 dataID = dGeomTriMeshDataCreate();
1759 dGeomTriMeshDataBuildSingle(dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3]));
1760 ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
1761 ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
1762 dGeomSetBody(ed->priv.server->ode_geom, body);
1763 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
1764 dBodySetMass(body, &mass);
1765 dBodySetData(body, (void*)ed);
1768 case SOLID_SLIDEBOX:
1770 case SOLID_PHYSICS_BOX:
1771 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
1772 ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
1773 ed->priv.server->ode_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
1774 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
1775 dGeomSetBody(ed->priv.server->ode_geom, body);
1776 dBodySetMass(body, &mass);
1777 dBodySetData(body, (void*)ed);
1779 case SOLID_PHYSICS_SPHERE:
1780 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
1781 ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
1782 ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f);
1783 dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
1784 dGeomSetBody(ed->priv.server->ode_geom, body);
1785 dBodySetMass(body, &mass);
1786 dBodySetData(body, (void*)ed);
1788 case SOLID_PHYSICS_CAPSULE:
1790 if (geomsize[axisindex] < geomsize[1])
1792 if (geomsize[axisindex] < geomsize[2])
1794 // the qc gives us 3 axis radius, the longest axis is the capsule
1795 // axis, since ODE doesn't like this idea we have to create a
1796 // capsule which uses the standard orientation, and apply a
1798 memset(capsulerot, 0, sizeof(capsulerot));
1800 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
1801 else if (axisindex == 1)
1802 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
1804 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
1805 radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
1806 length = geomsize[axisindex] - radius*2;
1807 // because we want to support more than one axisindex, we have to
1808 // create a transform, and turn on its cleanup setting (which will
1809 // cause the child to be destroyed when it is destroyed)
1810 ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
1811 ed->priv.server->ode_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length);
1812 dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
1813 dGeomSetBody(ed->priv.server->ode_geom, body);
1814 dBodySetMass(body, &mass);
1815 dBodySetData(body, (void*)ed);
1818 Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
1820 Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
1823 // get current data from entity
1824 VectorClear(origin);
1825 VectorClear(forward);
1828 VectorClear(velocity);
1829 VectorClear(spinvelocity);
1830 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
1831 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward);
1832 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left);
1833 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up);
1834 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
1835 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
1837 // compatibility for legacy entities
1841 //VectorClear(velocity);
1842 VectorClear(angles);
1843 VectorClear(avelocity);
1844 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
1845 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, avelocity);
1846 AngleVectorsFLU(angles, forward, left, up);
1847 // convert single-axis rotations in avelocity to spinvelocity
1848 // FIXME: untested math - check signs
1849 VectorSet(spinvelocity, avelocity[PITCH] * ((float)M_PI / 180.0f), avelocity[ROLL] * ((float)M_PI / 180.0f), avelocity[YAW] * ((float)M_PI / 180.0f));
1852 case SOLID_SLIDEBOX:
1854 //VectorClear(velocity);
1855 VectorSet(forward, 1, 0, 0);
1856 VectorSet(left, 0, 1, 0);
1857 VectorSet(up, 0, 0, 1);
1858 VectorSet(spinvelocity, 0, 0, 0);
1862 // we must prevent NANs...
1863 test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
1866 Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = '%f %f %f' .velocity = '%f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], velocity[0], velocity[1], velocity[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
1867 test = VectorLength2(origin);
1869 VectorClear(origin);
1870 test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
1873 VectorSet(forward, 1, 0, 0);
1874 VectorSet(left, 0, 1, 0);
1875 VectorSet(up, 0, 0, 1);
1877 test = VectorLength2(velocity);
1879 VectorClear(velocity);
1880 test = VectorLength2(spinvelocity);
1883 VectorClear(spinvelocity);
1887 // limit movement speed to prevent missed collisions at high speed
1888 movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
1889 test = VectorLength2(velocity);
1890 if (test > movelimit*movelimit)
1892 // scale down linear velocity to the movelimit
1893 // scale down angular velocity the same amount for consistency
1894 f = movelimit / sqrt(test);
1895 VectorScale(velocity, f, velocity);
1896 VectorScale(spinvelocity, f, spinvelocity);
1899 // make sure the angular velocity is not exploding
1900 spinlimit = physics_ode_spinlimit.value;
1901 test = VectorLength2(spinvelocity);
1902 if (test > spinlimit)
1903 VectorClear(spinvelocity);
1905 // store the values into the physics engine
1906 body = ed->priv.server->ode_body;
1910 matrix4x4_t entitymatrix;
1911 matrix4x4_t bodymatrix;
1912 Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
1913 Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
1914 Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
1915 r[0][0] = forward[0];
1916 r[1][0] = forward[1];
1917 r[2][0] = forward[2];
1924 dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_body);
1925 dBodySetPosition(body, origin[0], origin[1], origin[2]);
1926 dBodySetRotation(body, r[0]);
1927 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
1928 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
1929 // setting body to NULL makes an immovable object
1930 if (movetype != MOVETYPE_PHYSICS)
1931 dGeomSetBody(ed->priv.server->ode_geom, 0);
1935 #define MAX_CONTACTS 16
1936 static void nearCallback (void *data, dGeomID o1, dGeomID o2)
1938 world_t *world = (world_t *)data;
1939 dContact contact[MAX_CONTACTS]; // max contacts per collision pair
1946 if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
1948 // colliding a space with something
1949 dSpaceCollide2(o1, o2, data, &nearCallback);
1950 // Note we do not want to test intersections within a space,
1951 // only between spaces.
1952 //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
1953 //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
1957 b1 = dGeomGetBody(o1);
1958 b2 = dGeomGetBody(o2);
1960 // at least one object has to be using MOVETYPE_PHYSICS or we just don't care
1964 // exit without doing anything if the two bodies are connected by a joint
1965 if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
1968 // generate contact points between the two non-space geoms
1969 numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
1970 // add these contact points to the simulation
1971 for (i = 0;i < numcontacts;i++)
1973 contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0);
1974 contact[i].surface.mu = physics_ode_contact_mu.value;
1975 contact[i].surface.soft_erp = physics_ode_contact_erp.value;
1976 contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
1977 c = dJointCreateContact(world->physics.ode_world, world->physics.ode_contactgroup, contact + i);
1978 dJointAttach(c, b1, b2);
1983 void World_Physics_Frame(world_t *world, double frametime, double gravity)
1986 if (world->physics.ode)
1991 // copy physics properties from entities to physics engine
1993 for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
1994 if (!prog->edicts[i].priv.required->free)
1995 World_Physics_Frame_BodyFromEntity(world, ed);
1997 world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
1998 world->physics.ode_step = frametime / world->physics.ode_iterations;
1999 world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
2000 for (i = 0;i < world->physics.ode_iterations;i++)
2003 dWorldSetGravity(world->physics.ode_world, 0, 0, -gravity);
2004 // set the tolerance for closeness of objects
2005 dWorldSetContactSurfaceLayer(world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
2007 // run collisions for the current world state, creating JointGroup
2008 dSpaceCollide(world->physics.ode_space, (void *)world, nearCallback);
2010 // run physics (move objects, calculate new velocities)
2011 if (physics_ode_worldquickstep.integer)
2013 dWorldSetQuickStepNumIterations(world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200));
2014 dWorldQuickStep(world->physics.ode_world, world->physics.ode_step);
2016 else if (physics_ode_worldstepfast.integer)
2017 dWorldStepFast1(world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstepfast_iterations.integer, 200));
2019 dWorldStep(world->physics.ode_world, world->physics.ode_step);
2021 // clear the JointGroup now that we're done with it
2022 dJointGroupEmpty(world->physics.ode_contactgroup);
2025 // copy physics properties from physics engine to entities
2027 for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2028 if (!prog->edicts[i].priv.required->free && PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype)->_float == MOVETYPE_PHYSICS)
2029 World_Physics_Frame_BodyToEntity(world, ed);