/* Copyright (C) 1996-1997 Id Software, Inc. This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. */ // world.c -- world query functions #include "quakedef.h" /* entities never clip against themselves, or their owner line of sight checks trace->inopen and trace->inwater, but bullets don't */ static void World_Physics_Init(void); void World_Init(void) { Collision_Init(); World_Physics_Init(); } static void World_Physics_Shutdown(void); void World_Shutdown(void) { World_Physics_Shutdown(); } static void World_Physics_Start(world_t *world); void World_Start(world_t *world) { World_Physics_Start(world); } static void World_Physics_End(world_t *world); void World_End(world_t *world) { World_Physics_End(world); } //============================================================================ /// World_ClearLink is used for new headnodes void World_ClearLink (link_t *l) { l->entitynumber = 0; l->prev = l->next = l; } void World_RemoveLink (link_t *l) { l->next->prev = l->prev; l->prev->next = l->next; } void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber) { l->entitynumber = entitynumber; l->next = before; l->prev = before->prev; l->prev->next = l; l->next->prev = l; } /* =============================================================================== ENTITY AREA CHECKING =============================================================================== */ void World_PrintAreaStats(world_t *world, const char *worldname) { 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); world->areagrid_stats_calls = 0; world->areagrid_stats_nodechecks = 0; world->areagrid_stats_entitychecks = 0; } /* =============== World_SetSize =============== */ void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs) { int i; strlcpy(world->filename, filename, sizeof(world->filename)); VectorCopy(mins, world->mins); VectorCopy(maxs, world->maxs); // the areagrid_marknumber is not allowed to be 0 if (world->areagrid_marknumber < 1) world->areagrid_marknumber = 1; // choose either the world box size, or a larger box to ensure the grid isn't too fine world->areagrid_size[0] = max(world->areagrid_maxs[0] - world->areagrid_mins[0], AREA_GRID * sv_areagrid_mingridsize.value); world->areagrid_size[1] = max(world->areagrid_maxs[1] - world->areagrid_mins[1], AREA_GRID * sv_areagrid_mingridsize.value); world->areagrid_size[2] = max(world->areagrid_maxs[2] - world->areagrid_mins[2], AREA_GRID * sv_areagrid_mingridsize.value); // figure out the corners of such a box, centered at the center of the world box world->areagrid_mins[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] - world->areagrid_size[0]) * 0.5f; world->areagrid_mins[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] - world->areagrid_size[1]) * 0.5f; world->areagrid_mins[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] - world->areagrid_size[2]) * 0.5f; world->areagrid_maxs[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] + world->areagrid_size[0]) * 0.5f; world->areagrid_maxs[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] + world->areagrid_size[1]) * 0.5f; world->areagrid_maxs[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] + world->areagrid_size[2]) * 0.5f; // now calculate the actual useful info from that VectorNegate(world->areagrid_mins, world->areagrid_bias); world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0]; world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1]; world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2]; World_ClearLink(&world->areagrid_outside); for (i = 0;i < AREA_GRIDNODES;i++) World_ClearLink(&world->areagrid[i]); if (developer.integer >= 10) 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); } /* =============== World_UnlinkAll =============== */ void World_UnlinkAll(world_t *world) { int i; link_t *grid; // unlink all entities one by one grid = &world->areagrid_outside; while (grid->next != grid) World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber)); for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++) while (grid->next != grid) World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber)); } /* =============== =============== */ void World_UnlinkEdict(prvm_edict_t *ent) { int i; for (i = 0;i < ENTITYGRIDAREAS;i++) { if (ent->priv.server->areagrid[i].prev) { World_RemoveLink (&ent->priv.server->areagrid[i]); ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL; } } } int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, prvm_edict_t **list) { int numlist; link_t *grid; link_t *l; prvm_edict_t *ent; int igrid[3], igridmins[3], igridmaxs[3]; // FIXME: if areagrid_marknumber wraps, all entities need their // ent->priv.server->areagridmarknumber reset world->areagrid_stats_calls++; world->areagrid_marknumber++; igridmins[0] = (int) floor((mins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]); igridmins[1] = (int) floor((mins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]); //igridmins[2] = (int) ((mins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]); igridmaxs[0] = (int) floor((maxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1; igridmaxs[1] = (int) floor((maxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1; //igridmaxs[2] = (int) ((maxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1; igridmins[0] = max(0, igridmins[0]); igridmins[1] = max(0, igridmins[1]); //igridmins[2] = max(0, igridmins[2]); igridmaxs[0] = min(AREA_GRID, igridmaxs[0]); igridmaxs[1] = min(AREA_GRID, igridmaxs[1]); //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]); numlist = 0; // add entities not linked into areagrid because they are too big or // outside the grid bounds if (world->areagrid_outside.next != &world->areagrid_outside) { grid = &world->areagrid_outside; for (l = grid->next;l != grid;l = l->next) { ent = PRVM_EDICT_NUM(l->entitynumber); if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber) { ent->priv.server->areagridmarknumber = world->areagrid_marknumber; if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs)) { if (numlist < maxlist) list[numlist] = ent; numlist++; } world->areagrid_stats_entitychecks++; } } } // add grid linked entities for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++) { grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0]; for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++) { if (grid->next != grid) { for (l = grid->next;l != grid;l = l->next) { ent = PRVM_EDICT_NUM(l->entitynumber); if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber) { ent->priv.server->areagridmarknumber = world->areagrid_marknumber; if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs)) { if (numlist < maxlist) list[numlist] = ent; numlist++; } //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]); } world->areagrid_stats_entitychecks++; } } } } return numlist; } void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent) { link_t *grid; int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent); if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent) { 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); return; } igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]); igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]); //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]); igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1; igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1; //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1; if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS) { // wow, something outside the grid, store it as such World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber); return; } gridnum = 0; for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++) { grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0]; for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++) World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber); } } /* =============== World_LinkEdict =============== */ void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs) { // unlink from old position first if (ent->priv.server->areagrid[0].prev) World_UnlinkEdict(ent); // don't add the world if (ent == prog->edicts) return; // don't add free entities if (ent->priv.server->free) return; VectorCopy(mins, ent->priv.server->areamins); VectorCopy(maxs, ent->priv.server->areamaxs); World_LinkEdict_AreaGrid(world, ent); } //============================================================================ // physics engine support //============================================================================ cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"}; cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"}; cvar_t physics_ode_worldquickstep = {0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStepFast1 or dWorldStep"}; cvar_t physics_ode_worldquickstep_iterations = {0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"}; cvar_t physics_ode_worldstepfast = {0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"}; cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"}; cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"}; cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"}; cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"}; cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"}; 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"}; cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"}; // LordHavoc: this large chunk of definitions comes from the ODE library // include files. //#ifndef ODE_STATIC //#define ODE_DYNAMIC 1 //#endif #if defined(ODE_STATIC) || defined(ODE_DYNAMIC) #define USEODE 1 #endif #ifdef USEODE #ifdef ODE_STATIC #include "ode/ode.h" #else #ifdef WINAPI #define ODE_API WINAPI #else #define ODE_API #endif // note: dynamic builds of ODE tend to be double precision, this is not used // for static builds typedef double dReal; typedef dReal dVector3[4]; typedef dReal dVector4[4]; typedef dReal dMatrix3[4*3]; typedef dReal dMatrix4[4*4]; typedef dReal dMatrix6[8*6]; typedef dReal dQuaternion[4]; struct dxWorld; /* dynamics world */ struct dxSpace; /* collision space */ struct dxBody; /* rigid body (dynamics object) */ struct dxGeom; /* geometry (collision object) */ struct dxJoint; struct dxJointNode; struct dxJointGroup; struct dxTriMeshData; typedef struct dxWorld *dWorldID; typedef struct dxSpace *dSpaceID; typedef struct dxBody *dBodyID; typedef struct dxGeom *dGeomID; typedef struct dxJoint *dJointID; typedef struct dxJointGroup *dJointGroupID; typedef struct dxTriMeshData *dTriMeshDataID; typedef struct dJointFeedback { dVector3 f1; /* force applied to body 1 */ dVector3 t1; /* torque applied to body 1 */ dVector3 f2; /* force applied to body 2 */ dVector3 t2; /* torque applied to body 2 */ } dJointFeedback; typedef enum dJointType { dJointTypeNone = 0, dJointTypeBall, dJointTypeHinge, dJointTypeSlider, dJointTypeContact, dJointTypeUniversal, dJointTypeHinge2, dJointTypeFixed, dJointTypeNull, dJointTypeAMotor, dJointTypeLMotor, dJointTypePlane2D, dJointTypePR, dJointTypePU, dJointTypePiston } dJointType; typedef struct dMass { dReal mass; dVector3 c; dMatrix3 I; } dMass; enum { dContactMu2 = 0x001, dContactFDir1 = 0x002, dContactBounce = 0x004, dContactSoftERP = 0x008, dContactSoftCFM = 0x010, dContactMotion1 = 0x020, dContactMotion2 = 0x040, dContactMotionN = 0x080, dContactSlip1 = 0x100, dContactSlip2 = 0x200, dContactApprox0 = 0x0000, dContactApprox1_1 = 0x1000, dContactApprox1_2 = 0x2000, dContactApprox1 = 0x3000 }; typedef struct dSurfaceParameters { /* must always be defined */ int mode; dReal mu; /* only defined if the corresponding flag is set in mode */ dReal mu2; dReal bounce; dReal bounce_vel; dReal soft_erp; dReal soft_cfm; dReal motion1,motion2,motionN; dReal slip1,slip2; } dSurfaceParameters; typedef struct dContactGeom { dVector3 pos; ///< contact position dVector3 normal; ///< normal vector dReal depth; ///< penetration depth dGeomID g1,g2; ///< the colliding geoms int side1,side2; ///< (to be documented) } dContactGeom; typedef struct dContact { dSurfaceParameters surface; dContactGeom geom; dVector3 fdir1; } dContact; typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); // SAP // Order XZY or ZXY usually works best, if your Y is up. #define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) #define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) #define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) #define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) #define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) #define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) ODE_API const char* (*dGetConfiguration)(void); ODE_API int (*dCheckConfiguration)( const char* token ); ODE_API int (*dInitODE2)(unsigned int uiInitFlags); ODE_API int (*dAllocateODEDataForThread)(unsigned int uiAllocateFlags); ODE_API void (*dCleanupODEAllDataForThread)(void); ODE_API void (*dCloseODE)(void); //ODE_API int (*dMassCheck)(const dMass *m); //ODE_API void (*dMassSetZero)(dMass *); //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); //ODE_API void (*dMassSetSphere)(dMass *, dReal density, dReal radius); ODE_API void (*dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius); //ODE_API void (*dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length); ODE_API void (*dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); //ODE_API void (*dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length); //ODE_API void (*dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); //ODE_API void (*dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz); ODE_API void (*dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz); //ODE_API void (*dMassSetTrimesh)(dMass *, dReal density, dGeomID g); //ODE_API void (*dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g); //ODE_API void (*dMassAdjust)(dMass *, dReal newmass); //ODE_API void (*dMassTranslate)(dMass *, dReal x, dReal y, dReal z); //ODE_API void (*dMassRotate)(dMass *, const dMatrix3 R); //ODE_API void (*dMassAdd)(dMass *a, const dMass *b); // ODE_API dWorldID (*dWorldCreate)(void); ODE_API void (*dWorldDestroy)(dWorldID world); ODE_API void (*dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z); //ODE_API void (*dWorldGetGravity)(dWorldID, dVector3 gravity); //ODE_API void (*dWorldSetERP)(dWorldID, dReal erp); //ODE_API dReal (*dWorldGetERP)(dWorldID); //ODE_API void (*dWorldSetCFM)(dWorldID, dReal cfm); //ODE_API dReal (*dWorldGetCFM)(dWorldID); ODE_API void (*dWorldStep)(dWorldID, dReal stepsize); //ODE_API void (*dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force); ODE_API void (*dWorldQuickStep)(dWorldID w, dReal stepsize); ODE_API void (*dWorldSetQuickStepNumIterations)(dWorldID, int num); //ODE_API int (*dWorldGetQuickStepNumIterations)(dWorldID); //ODE_API void (*dWorldSetQuickStepW)(dWorldID, dReal over_relaxation); //ODE_API dReal (*dWorldGetQuickStepW)(dWorldID); //ODE_API void (*dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel); //ODE_API dReal (*dWorldGetContactMaxCorrectingVel)(dWorldID); ODE_API void (*dWorldSetContactSurfaceLayer)(dWorldID, dReal depth); //ODE_API dReal (*dWorldGetContactSurfaceLayer)(dWorldID); ODE_API void (*dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); //ODE_API void (*dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth); //ODE_API int (*dWorldGetAutoEnableDepthSF1)(dWorldID); //ODE_API dReal (*dWorldGetAutoDisableLinearThreshold)(dWorldID); //ODE_API void (*dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold); //ODE_API dReal (*dWorldGetAutoDisableAngularThreshold)(dWorldID); //ODE_API void (*dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold); //ODE_API dReal (*dWorldGetAutoDisableLinearAverageThreshold)(dWorldID); //ODE_API void (*dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold); //ODE_API dReal (*dWorldGetAutoDisableAngularAverageThreshold)(dWorldID); //ODE_API void (*dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold); //ODE_API int (*dWorldGetAutoDisableAverageSamplesCount)(dWorldID); //ODE_API void (*dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count ); //ODE_API int (*dWorldGetAutoDisableSteps)(dWorldID); //ODE_API void (*dWorldSetAutoDisableSteps)(dWorldID, int steps); //ODE_API dReal (*dWorldGetAutoDisableTime)(dWorldID); //ODE_API void (*dWorldSetAutoDisableTime)(dWorldID, dReal time); //ODE_API int (*dWorldGetAutoDisableFlag)(dWorldID); //ODE_API void (*dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable); //ODE_API dReal (*dWorldGetLinearDampingThreshold)(dWorldID w); //ODE_API void (*dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold); //ODE_API dReal (*dWorldGetAngularDampingThreshold)(dWorldID w); //ODE_API void (*dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold); //ODE_API dReal (*dWorldGetLinearDamping)(dWorldID w); //ODE_API void (*dWorldSetLinearDamping)(dWorldID w, dReal scale); //ODE_API dReal (*dWorldGetAngularDamping)(dWorldID w); //ODE_API void (*dWorldSetAngularDamping)(dWorldID w, dReal scale); //ODE_API void (*dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale); //ODE_API dReal (*dWorldGetMaxAngularSpeed)(dWorldID w); //ODE_API void (*dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed); //ODE_API dReal (*dBodyGetAutoDisableLinearThreshold)(dBodyID); //ODE_API void (*dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold); //ODE_API dReal (*dBodyGetAutoDisableAngularThreshold)(dBodyID); //ODE_API void (*dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold); //ODE_API int (*dBodyGetAutoDisableAverageSamplesCount)(dBodyID); //ODE_API void (*dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count); //ODE_API int (*dBodyGetAutoDisableSteps)(dBodyID); //ODE_API void (*dBodySetAutoDisableSteps)(dBodyID, int steps); //ODE_API dReal (*dBodyGetAutoDisableTime)(dBodyID); //ODE_API void (*dBodySetAutoDisableTime)(dBodyID, dReal time); //ODE_API int (*dBodyGetAutoDisableFlag)(dBodyID); //ODE_API void (*dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable); //ODE_API void (*dBodySetAutoDisableDefaults)(dBodyID); //ODE_API dWorldID (*dBodyGetWorld)(dBodyID); ODE_API dBodyID (*dBodyCreate)(dWorldID); ODE_API void (*dBodyDestroy)(dBodyID); ODE_API void (*dBodySetData)(dBodyID, void *data); //ODE_API void * (*dBodyGetData)(dBodyID); ODE_API void (*dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z); ODE_API void (*dBodySetRotation)(dBodyID, const dMatrix3 R); //ODE_API void (*dBodySetQuaternion)(dBodyID, const dQuaternion q); ODE_API void (*dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z); ODE_API void (*dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z); ODE_API const dReal * (*dBodyGetPosition)(dBodyID); //ODE_API void (*dBodyCopyPosition)(dBodyID body, dVector3 pos); ODE_API const dReal * (*dBodyGetRotation)(dBodyID); //ODE_API void (*dBodyCopyRotation)(dBodyID, dMatrix3 R); //ODE_API const dReal * (*dBodyGetQuaternion)(dBodyID); //ODE_API void (*dBodyCopyQuaternion)(dBodyID body, dQuaternion quat); ODE_API const dReal * (*dBodyGetLinearVel)(dBodyID); ODE_API const dReal * (*dBodyGetAngularVel)(dBodyID); ODE_API void (*dBodySetMass)(dBodyID, const dMass *mass); //ODE_API void (*dBodyGetMass)(dBodyID, dMass *mass); //ODE_API void (*dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz); //ODE_API void (*dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz); //ODE_API void (*dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz); //ODE_API void (*dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz); //ODE_API void (*dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //ODE_API void (*dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //ODE_API void (*dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //ODE_API void (*dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //ODE_API const dReal * (*dBodyGetForce)(dBodyID); //ODE_API const dReal * (*dBodyGetTorque)(dBodyID); //ODE_API void (*dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z); //ODE_API void (*dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z); //ODE_API void (*dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //ODE_API void (*dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //ODE_API void (*dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //ODE_API void (*dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //ODE_API void (*dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //ODE_API void (*dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //ODE_API void (*dBodySetFiniteRotationMode)(dBodyID, int mode); //ODE_API void (*dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z); //ODE_API int (*dBodyGetFiniteRotationMode)(dBodyID); //ODE_API void (*dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result); //ODE_API int (*dBodyGetNumJoints)(dBodyID b); //ODE_API dJointID (*dBodyGetJoint)(dBodyID, int index); //ODE_API void (*dBodySetDynamic)(dBodyID); //ODE_API void (*dBodySetKinematic)(dBodyID); //ODE_API int (*dBodyIsKinematic)(dBodyID); //ODE_API void (*dBodyEnable)(dBodyID); //ODE_API void (*dBodyDisable)(dBodyID); //ODE_API int (*dBodyIsEnabled)(dBodyID); //ODE_API void (*dBodySetGravityMode)(dBodyID b, int mode); //ODE_API int (*dBodyGetGravityMode)(dBodyID b); //ODE_API void (*dBodySetMovedCallback)(dBodyID b, void(*callback)(dBodyID)); //ODE_API dGeomID (*dBodyGetFirstGeom)(dBodyID b); //ODE_API dGeomID (*dBodyGetNextGeom)(dGeomID g); //ODE_API void (*dBodySetDampingDefaults)(dBodyID b); //ODE_API dReal (*dBodyGetLinearDamping)(dBodyID b); //ODE_API void (*dBodySetLinearDamping)(dBodyID b, dReal scale); //ODE_API dReal (*dBodyGetAngularDamping)(dBodyID b); //ODE_API void (*dBodySetAngularDamping)(dBodyID b, dReal scale); //ODE_API void (*dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale); //ODE_API dReal (*dBodyGetLinearDampingThreshold)(dBodyID b); //ODE_API void (*dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold); //ODE_API dReal (*dBodyGetAngularDampingThreshold)(dBodyID b); //ODE_API void (*dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold); //ODE_API dReal (*dBodyGetMaxAngularSpeed)(dBodyID b); //ODE_API void (*dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed); //ODE_API int (*dBodyGetGyroscopicMode)(dBodyID b); //ODE_API void (*dBodySetGyroscopicMode)(dBodyID b, int enabled); //ODE_API dJointID (*dJointCreateBall)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreateHinge)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreateSlider)(dWorldID, dJointGroupID); ODE_API dJointID (*dJointCreateContact)(dWorldID, dJointGroupID, const dContact *); //ODE_API dJointID (*dJointCreateHinge2)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreateUniversal)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreatePR)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreatePU)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreatePiston)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreateFixed)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreateNull)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreateAMotor)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreateLMotor)(dWorldID, dJointGroupID); //ODE_API dJointID (*dJointCreatePlane2D)(dWorldID, dJointGroupID); //ODE_API void (*dJointDestroy)(dJointID); ODE_API dJointGroupID (*dJointGroupCreate)(int max_size); ODE_API void (*dJointGroupDestroy)(dJointGroupID); ODE_API void (*dJointGroupEmpty)(dJointGroupID); //ODE_API int (*dJointGetNumBodies)(dJointID); ODE_API void (*dJointAttach)(dJointID, dBodyID body1, dBodyID body2); //ODE_API void (*dJointEnable)(dJointID); //ODE_API void (*dJointDisable)(dJointID); //ODE_API int (*dJointIsEnabled)(dJointID); //ODE_API void (*dJointSetData)(dJointID, void *data); //ODE_API void * (*dJointGetData)(dJointID); //ODE_API dJointType (*dJointGetType)(dJointID); //ODE_API dBodyID (*dJointGetBody)(dJointID, int index); //ODE_API void (*dJointSetFeedback)(dJointID, dJointFeedback *); //ODE_API dJointFeedback *(*dJointGetFeedback)(dJointID); //ODE_API void (*dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetBallParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); //ODE_API void (*dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle); //ODE_API void (*dJointSetHingeParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointAddHingeTorque)(dJointID joint, dReal torque); //ODE_API void (*dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); //ODE_API void (*dJointSetSliderParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointAddSliderForce)(dJointID joint, dReal force); //ODE_API void (*dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetHinge2Param)(dJointID, int parameter, dReal value); //ODE_API void (*dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2); //ODE_API void (*dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); //ODE_API void (*dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); //ODE_API void (*dJointSetUniversalParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2); //ODE_API void (*dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetPRParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointAddPRTorque)(dJointID j, dReal torque); //ODE_API void (*dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); //ODE_API void (*dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetPUParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointAddPUTorque)(dJointID j, dReal torque); //ODE_API void (*dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); //ODE_API void (*dJointSetPistonParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointAddPistonForce)(dJointID joint, dReal force); //ODE_API void (*dJointSetFixed)(dJointID); //ODE_API void (*dJointSetFixedParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointSetAMotorNumAxes)(dJointID, int num); //ODE_API void (*dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetAMotorAngle)(dJointID, int anum, dReal angle); //ODE_API void (*dJointSetAMotorParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointSetAMotorMode)(dJointID, int mode); //ODE_API void (*dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3); //ODE_API void (*dJointSetLMotorNumAxes)(dJointID, int num); //ODE_API void (*dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); //ODE_API void (*dJointSetLMotorParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointSetPlane2DXParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointSetPlane2DYParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value); //ODE_API void (*dJointGetBallAnchor)(dJointID, dVector3 result); //ODE_API void (*dJointGetBallAnchor2)(dJointID, dVector3 result); //ODE_API dReal (*dJointGetBallParam)(dJointID, int parameter); //ODE_API void (*dJointGetHingeAnchor)(dJointID, dVector3 result); //ODE_API void (*dJointGetHingeAnchor2)(dJointID, dVector3 result); //ODE_API void (*dJointGetHingeAxis)(dJointID, dVector3 result); //ODE_API dReal (*dJointGetHingeParam)(dJointID, int parameter); //ODE_API dReal (*dJointGetHingeAngle)(dJointID); //ODE_API dReal (*dJointGetHingeAngleRate)(dJointID); //ODE_API dReal (*dJointGetSliderPosition)(dJointID); //ODE_API dReal (*dJointGetSliderPositionRate)(dJointID); //ODE_API void (*dJointGetSliderAxis)(dJointID, dVector3 result); //ODE_API dReal (*dJointGetSliderParam)(dJointID, int parameter); //ODE_API void (*dJointGetHinge2Anchor)(dJointID, dVector3 result); //ODE_API void (*dJointGetHinge2Anchor2)(dJointID, dVector3 result); //ODE_API void (*dJointGetHinge2Axis1)(dJointID, dVector3 result); //ODE_API void (*dJointGetHinge2Axis2)(dJointID, dVector3 result); //ODE_API dReal (*dJointGetHinge2Param)(dJointID, int parameter); //ODE_API dReal (*dJointGetHinge2Angle1)(dJointID); //ODE_API dReal (*dJointGetHinge2Angle1Rate)(dJointID); //ODE_API dReal (*dJointGetHinge2Angle2Rate)(dJointID); //ODE_API void (*dJointGetUniversalAnchor)(dJointID, dVector3 result); //ODE_API void (*dJointGetUniversalAnchor2)(dJointID, dVector3 result); //ODE_API void (*dJointGetUniversalAxis1)(dJointID, dVector3 result); //ODE_API void (*dJointGetUniversalAxis2)(dJointID, dVector3 result); //ODE_API dReal (*dJointGetUniversalParam)(dJointID, int parameter); //ODE_API void (*dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2); //ODE_API dReal (*dJointGetUniversalAngle1)(dJointID); //ODE_API dReal (*dJointGetUniversalAngle2)(dJointID); //ODE_API dReal (*dJointGetUniversalAngle1Rate)(dJointID); //ODE_API dReal (*dJointGetUniversalAngle2Rate)(dJointID); //ODE_API void (*dJointGetPRAnchor)(dJointID, dVector3 result); //ODE_API dReal (*dJointGetPRPosition)(dJointID); //ODE_API dReal (*dJointGetPRPositionRate)(dJointID); //ODE_API dReal (*dJointGetPRAngle)(dJointID); //ODE_API dReal (*dJointGetPRAngleRate)(dJointID); //ODE_API void (*dJointGetPRAxis1)(dJointID, dVector3 result); //ODE_API void (*dJointGetPRAxis2)(dJointID, dVector3 result); //ODE_API dReal (*dJointGetPRParam)(dJointID, int parameter); //ODE_API void (*dJointGetPUAnchor)(dJointID, dVector3 result); //ODE_API dReal (*dJointGetPUPosition)(dJointID); //ODE_API dReal (*dJointGetPUPositionRate)(dJointID); //ODE_API void (*dJointGetPUAxis1)(dJointID, dVector3 result); //ODE_API void (*dJointGetPUAxis2)(dJointID, dVector3 result); //ODE_API void (*dJointGetPUAxis3)(dJointID, dVector3 result); //ODE_API void (*dJointGetPUAxisP)(dJointID id, dVector3 result); //ODE_API void (*dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2); //ODE_API dReal (*dJointGetPUAngle1)(dJointID); //ODE_API dReal (*dJointGetPUAngle1Rate)(dJointID); //ODE_API dReal (*dJointGetPUAngle2)(dJointID); //ODE_API dReal (*dJointGetPUAngle2Rate)(dJointID); //ODE_API dReal (*dJointGetPUParam)(dJointID, int parameter); //ODE_API dReal (*dJointGetPistonPosition)(dJointID); //ODE_API dReal (*dJointGetPistonPositionRate)(dJointID); //ODE_API dReal (*dJointGetPistonAngle)(dJointID); //ODE_API dReal (*dJointGetPistonAngleRate)(dJointID); //ODE_API void (*dJointGetPistonAnchor)(dJointID, dVector3 result); //ODE_API void (*dJointGetPistonAnchor2)(dJointID, dVector3 result); //ODE_API void (*dJointGetPistonAxis)(dJointID, dVector3 result); //ODE_API dReal (*dJointGetPistonParam)(dJointID, int parameter); //ODE_API int (*dJointGetAMotorNumAxes)(dJointID); //ODE_API void (*dJointGetAMotorAxis)(dJointID, int anum, dVector3 result); //ODE_API int (*dJointGetAMotorAxisRel)(dJointID, int anum); //ODE_API dReal (*dJointGetAMotorAngle)(dJointID, int anum); //ODE_API dReal (*dJointGetAMotorAngleRate)(dJointID, int anum); //ODE_API dReal (*dJointGetAMotorParam)(dJointID, int parameter); //ODE_API int (*dJointGetAMotorMode)(dJointID); //ODE_API int (*dJointGetLMotorNumAxes)(dJointID); //ODE_API void (*dJointGetLMotorAxis)(dJointID, int anum, dVector3 result); //ODE_API dReal (*dJointGetLMotorParam)(dJointID, int parameter); //ODE_API dReal (*dJointGetFixedParam)(dJointID, int parameter); //ODE_API dJointID (*dConnectingJoint)(dBodyID, dBodyID); //ODE_API int (*dConnectingJointList)(dBodyID, dBodyID, dJointID*); ODE_API int (*dAreConnected)(dBodyID, dBodyID); ODE_API int (*dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type); // ODE_API dSpaceID (*dSimpleSpaceCreate)(dSpaceID space); ODE_API dSpaceID (*dHashSpaceCreate)(dSpaceID space); ODE_API dSpaceID (*dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); ODE_API dSpaceID (*dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder ); ODE_API void (*dSpaceDestroy)(dSpaceID); //ODE_API void (*dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel); //ODE_API void (*dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel); //ODE_API void (*dSpaceSetCleanup)(dSpaceID space, int mode); //ODE_API int (*dSpaceGetCleanup)(dSpaceID space); //ODE_API void (*dSpaceSetSublevel)(dSpaceID space, int sublevel); //ODE_API int (*dSpaceGetSublevel)(dSpaceID space); //ODE_API void (*dSpaceSetManualCleanup)(dSpaceID space, int mode); //ODE_API int (*dSpaceGetManualCleanup)(dSpaceID space); //ODE_API void (*dSpaceAdd)(dSpaceID, dGeomID); //ODE_API void (*dSpaceRemove)(dSpaceID, dGeomID); //ODE_API int (*dSpaceQuery)(dSpaceID, dGeomID); //ODE_API void (*dSpaceClean)(dSpaceID); //ODE_API int (*dSpaceGetNumGeoms)(dSpaceID); //ODE_API dGeomID (*dSpaceGetGeom)(dSpaceID, int i); //ODE_API int (*dSpaceGetClass)(dSpaceID space); // ODE_API void (*dGeomDestroy)(dGeomID geom); //ODE_API void (*dGeomSetData)(dGeomID geom, void* data); //ODE_API void * (*dGeomGetData)(dGeomID geom); ODE_API void (*dGeomSetBody)(dGeomID geom, dBodyID body); ODE_API dBodyID (*dGeomGetBody)(dGeomID geom); //ODE_API void (*dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z); ODE_API void (*dGeomSetRotation)(dGeomID geom, const dMatrix3 R); //ODE_API void (*dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q); //ODE_API const dReal * (*dGeomGetPosition)(dGeomID geom); //ODE_API void (*dGeomCopyPosition)(dGeomID geom, dVector3 pos); //ODE_API const dReal * (*dGeomGetRotation)(dGeomID geom); //ODE_API void (*dGeomCopyRotation)(dGeomID geom, dMatrix3 R); //ODE_API void (*dGeomGetQuaternion)(dGeomID geom, dQuaternion result); //ODE_API void (*dGeomGetAABB)(dGeomID geom, dReal aabb[6]); ODE_API int (*dGeomIsSpace)(dGeomID geom); //ODE_API dSpaceID (*dGeomGetSpace)(dGeomID); //ODE_API int (*dGeomGetClass)(dGeomID geom); //ODE_API void (*dGeomSetCategoryBits)(dGeomID geom, unsigned long bits); //ODE_API void (*dGeomSetCollideBits)(dGeomID geom, unsigned long bits); //ODE_API unsigned long (*dGeomGetCategoryBits)(dGeomID); //ODE_API unsigned long (*dGeomGetCollideBits)(dGeomID); //ODE_API void (*dGeomEnable)(dGeomID geom); //ODE_API void (*dGeomDisable)(dGeomID geom); //ODE_API int (*dGeomIsEnabled)(dGeomID geom); //ODE_API void (*dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z); //ODE_API void (*dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R); //ODE_API void (*dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q); //ODE_API void (*dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z); //ODE_API void (*dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R); //ODE_API void (*dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion); //ODE_API void (*dGeomClearOffset)(dGeomID geom); //ODE_API int (*dGeomIsOffset)(dGeomID geom); //ODE_API const dReal * (*dGeomGetOffsetPosition)(dGeomID geom); //ODE_API void (*dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos); //ODE_API const dReal * (*dGeomGetOffsetRotation)(dGeomID geom); //ODE_API void (*dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R); //ODE_API void (*dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result); ODE_API int (*dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip); // ODE_API void (*dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback); ODE_API void (*dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); // ODE_API dGeomID (*dCreateSphere)(dSpaceID space, dReal radius); //ODE_API void (*dGeomSphereSetRadius)(dGeomID sphere, dReal radius); //ODE_API dReal (*dGeomSphereGetRadius)(dGeomID sphere); //ODE_API dReal (*dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z); // //ODE_API dGeomID (*dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); //ODE_API void (*dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); // ODE_API dGeomID (*dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz); //ODE_API void (*dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz); //ODE_API void (*dGeomBoxGetLengths)(dGeomID box, dVector3 result); //ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); //ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); // //ODE_API dGeomID (*dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d); //ODE_API void (*dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d); //ODE_API void (*dGeomPlaneGetParams)(dGeomID plane, dVector4 result); //ODE_API dReal (*dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z); // ODE_API dGeomID (*dCreateCapsule)(dSpaceID space, dReal radius, dReal length); //ODE_API void (*dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length); //ODE_API void (*dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length); //ODE_API dReal (*dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z); // //ODE_API dGeomID (*dCreateCylinder)(dSpaceID space, dReal radius, dReal length); //ODE_API void (*dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length); //ODE_API void (*dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length); // //ODE_API dGeomID (*dCreateRay)(dSpaceID space, dReal length); //ODE_API void (*dGeomRaySetLength)(dGeomID ray, dReal length); //ODE_API dReal (*dGeomRayGetLength)(dGeomID ray); //ODE_API void (*dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); //ODE_API void (*dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir); // ODE_API dGeomID (*dCreateGeomTransform)(dSpaceID space); ODE_API void (*dGeomTransformSetGeom)(dGeomID g, dGeomID obj); //ODE_API dGeomID (*dGeomTransformGetGeom)(dGeomID g); ODE_API void (*dGeomTransformSetCleanup)(dGeomID g, int mode); //ODE_API int (*dGeomTransformGetCleanup)(dGeomID g); //ODE_API void (*dGeomTransformSetInfo)(dGeomID g, int mode); //ODE_API int (*dGeomTransformGetInfo)(dGeomID g); enum { TRIMESH_FACE_NORMALS }; typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); ODE_API dTriMeshDataID (*dGeomTriMeshDataCreate)(void); ODE_API void (*dGeomTriMeshDataDestroy)(dTriMeshDataID g); //ODE_API void (*dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data); //ODE_API void* (*dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id); //ODE_API void (*dGeomTriMeshSetLastTransform)( (*dGeomID g, dMatrix4 last_trans ); //ODE_API dReal* (*dGeomTriMeshGetLastTransform)( (*dGeomID g ); ODE_API void (*dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); //ODE_API void (*dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); //ODE_API void (*dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); //ODE_API void (*dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); //ODE_API void (*dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount); //ODE_API void (*dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals); //ODE_API void (*dGeomTriMeshDataPreprocess)(dTriMeshDataID g); //ODE_API void (*dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen); //ODE_API void (*dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf); //ODE_API void (*dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback); //ODE_API dTriCallback* (*dGeomTriMeshGetCallback)(dGeomID g); //ODE_API void (*dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback); //ODE_API dTriArrayCallback* (*dGeomTriMeshGetArrayCallback)(dGeomID g); //ODE_API void (*dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback); //ODE_API dTriRayCallback* (*dGeomTriMeshGetRayCallback)(dGeomID g); //ODE_API void (*dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback); //ODE_API dTriTriMergeCallback* (*dGeomTriMeshGetTriMergeCallback)(dGeomID g); ODE_API dGeomID (*dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); //ODE_API void (*dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data); //ODE_API dTriMeshDataID (*dGeomTriMeshGetData)(dGeomID g); //ODE_API void (*dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable); //ODE_API int (*dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass); //ODE_API void (*dGeomTriMeshClearTCCache)(dGeomID g); //ODE_API dTriMeshDataID (*dGeomTriMeshGetTriMeshDataID)(dGeomID g); //ODE_API void (*dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); //ODE_API void (*dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); //ODE_API int (*dGeomTriMeshGetTriangleCount )(dGeomID g); //ODE_API void (*dGeomTriMeshDataUpdate)(dTriMeshDataID g); static dllfunction_t odefuncs[] = { {"dGetConfiguration", (void **) &dGetConfiguration}, {"dCheckConfiguration", (void **) &dCheckConfiguration}, {"dInitODE2", (void **) &dInitODE2}, {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread}, {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread}, {"dCloseODE", (void **) &dCloseODE}, // {"dMassCheck", (void **) &dMassCheck}, // {"dMassSetZero", (void **) &dMassSetZero}, // {"dMassSetParameters", (void **) &dMassSetParameters}, // {"dMassSetSphere", (void **) &dMassSetSphere}, {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal}, // {"dMassSetCapsule", (void **) &dMassSetCapsule}, {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal}, // {"dMassSetCylinder", (void **) &dMassSetCylinder}, // {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal}, // {"dMassSetBox", (void **) &dMassSetBox}, {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal}, // {"dMassSetTrimesh", (void **) &dMassSetTrimesh}, // {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal}, // {"dMassAdjust", (void **) &dMassAdjust}, // {"dMassTranslate", (void **) &dMassTranslate}, // {"dMassRotate", (void **) &dMassRotate}, // {"dMassAdd", (void **) &dMassAdd}, {"dWorldCreate", (void **) &dWorldCreate}, {"dWorldDestroy", (void **) &dWorldDestroy}, {"dWorldSetGravity", (void **) &dWorldSetGravity}, // {"dWorldGetGravity", (void **) &dWorldGetGravity}, // {"dWorldSetERP", (void **) &dWorldSetERP}, // {"dWorldGetERP", (void **) &dWorldGetERP}, // {"dWorldSetCFM", (void **) &dWorldSetCFM}, // {"dWorldGetCFM", (void **) &dWorldGetCFM}, {"dWorldStep", (void **) &dWorldStep}, // {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce}, {"dWorldQuickStep", (void **) &dWorldQuickStep}, {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations}, // {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations}, // {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW}, // {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW}, // {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel}, // {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel}, {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer}, // {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer}, {"dWorldStepFast1", (void **) &dWorldStepFast1}, // {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1}, // {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1}, // {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold}, // {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold}, // {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold}, // {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold}, // {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold}, // {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold}, // {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold}, // {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold}, // {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount}, // {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount}, // {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps}, // {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps}, // {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime}, // {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime}, // {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag}, // {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag}, // {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold}, // {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold}, // {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold}, // {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold}, // {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping}, // {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping}, // {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping}, // {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping}, // {"dWorldSetDamping", (void **) &dWorldSetDamping}, // {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed}, // {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed}, // {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold}, // {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold}, // {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold}, // {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold}, // {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount}, // {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount}, // {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps}, // {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps}, // {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime}, // {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime}, // {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag}, // {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag}, // {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults}, // {"dBodyGetWorld", (void **) &dBodyGetWorld}, {"dBodyCreate", (void **) &dBodyCreate}, {"dBodyDestroy", (void **) &dBodyDestroy}, {"dBodySetData", (void **) &dBodySetData}, // {"dBodyGetData", (void **) &dBodyGetData}, {"dBodySetPosition", (void **) &dBodySetPosition}, {"dBodySetRotation", (void **) &dBodySetRotation}, // {"dBodySetQuaternion", (void **) &dBodySetQuaternion}, {"dBodySetLinearVel", (void **) &dBodySetLinearVel}, {"dBodySetAngularVel", (void **) &dBodySetAngularVel}, {"dBodyGetPosition", (void **) &dBodyGetPosition}, // {"dBodyCopyPosition", (void **) &dBodyCopyPosition}, {"dBodyGetRotation", (void **) &dBodyGetRotation}, // {"dBodyCopyRotation", (void **) &dBodyCopyRotation}, // {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion}, // {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion}, {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel}, {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel}, {"dBodySetMass", (void **) &dBodySetMass}, // {"dBodyGetMass", (void **) &dBodyGetMass}, // {"dBodyAddForce", (void **) &dBodyAddForce}, // {"dBodyAddTorque", (void **) &dBodyAddTorque}, // {"dBodyAddRelForce", (void **) &dBodyAddRelForce}, // {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque}, // {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos}, // {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos}, // {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos}, // {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos}, // {"dBodyGetForce", (void **) &dBodyGetForce}, // {"dBodyGetTorque", (void **) &dBodyGetTorque}, // {"dBodySetForce", (void **) &dBodySetForce}, // {"dBodySetTorque", (void **) &dBodySetTorque}, // {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos}, // {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel}, // {"dBodyGetPointVel", (void **) &dBodyGetPointVel}, // {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint}, // {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld}, // {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld}, // {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode}, // {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis}, // {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode}, // {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis}, // {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints}, // {"dBodyGetJoint", (void **) &dBodyGetJoint}, // {"dBodySetDynamic", (void **) &dBodySetDynamic}, // {"dBodySetKinematic", (void **) &dBodySetKinematic}, // {"dBodyIsKinematic", (void **) &dBodyIsKinematic}, // {"dBodyEnable", (void **) &dBodyEnable}, // {"dBodyDisable", (void **) &dBodyDisable}, // {"dBodyIsEnabled", (void **) &dBodyIsEnabled}, // {"dBodySetGravityMode", (void **) &dBodySetGravityMode}, // {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode}, // {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback}, // {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom}, // {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom}, // {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults}, // {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping}, // {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping}, // {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping}, // {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping}, // {"dBodySetDamping", (void **) &dBodySetDamping}, // {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold}, // {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold}, // {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold}, // {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold}, // {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed}, // {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed}, // {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode}, // {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode}, // {"dJointCreateBall", (void **) &dJointCreateBall}, // {"dJointCreateHinge", (void **) &dJointCreateHinge}, // {"dJointCreateSlider", (void **) &dJointCreateSlider}, {"dJointCreateContact", (void **) &dJointCreateContact}, // {"dJointCreateHinge2", (void **) &dJointCreateHinge2}, // {"dJointCreateUniversal", (void **) &dJointCreateUniversal}, // {"dJointCreatePR", (void **) &dJointCreatePR}, // {"dJointCreatePU", (void **) &dJointCreatePU}, // {"dJointCreatePiston", (void **) &dJointCreatePiston}, // {"dJointCreateFixed", (void **) &dJointCreateFixed}, // {"dJointCreateNull", (void **) &dJointCreateNull}, // {"dJointCreateAMotor", (void **) &dJointCreateAMotor}, // {"dJointCreateLMotor", (void **) &dJointCreateLMotor}, // {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D}, // {"dJointDestroy", (void **) &dJointDestroy}, {"dJointGroupCreate", (void **) &dJointGroupCreate}, {"dJointGroupDestroy", (void **) &dJointGroupDestroy}, {"dJointGroupEmpty", (void **) &dJointGroupEmpty}, // {"dJointGetNumBodies", (void **) &dJointGetNumBodies}, {"dJointAttach", (void **) &dJointAttach}, // {"dJointEnable", (void **) &dJointEnable}, // {"dJointDisable", (void **) &dJointDisable}, // {"dJointIsEnabled", (void **) &dJointIsEnabled}, // {"dJointSetData", (void **) &dJointSetData}, // {"dJointGetData", (void **) &dJointGetData}, // {"dJointGetType", (void **) &dJointGetType}, // {"dJointGetBody", (void **) &dJointGetBody}, // {"dJointSetFeedback", (void **) &dJointSetFeedback}, // {"dJointGetFeedback", (void **) &dJointGetFeedback}, // {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor}, // {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2}, // {"dJointSetBallParam", (void **) &dJointSetBallParam}, // {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor}, // {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta}, // {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis}, // {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset}, // {"dJointSetHingeParam", (void **) &dJointSetHingeParam}, // {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque}, // {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis}, // {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta}, // {"dJointSetSliderParam", (void **) &dJointSetSliderParam}, // {"dJointAddSliderForce", (void **) &dJointAddSliderForce}, // {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor}, // {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1}, // {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2}, // {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param}, // {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques}, // {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor}, // {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1}, // {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset}, // {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2}, // {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset}, // {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam}, // {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques}, // {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor}, // {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1}, // {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2}, // {"dJointSetPRParam", (void **) &dJointSetPRParam}, // {"dJointAddPRTorque", (void **) &dJointAddPRTorque}, // {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor}, // {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset}, // {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1}, // {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2}, // {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3}, // {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP}, // {"dJointSetPUParam", (void **) &dJointSetPUParam}, // {"dJointAddPUTorque", (void **) &dJointAddPUTorque}, // {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor}, // {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset}, // {"dJointSetPistonParam", (void **) &dJointSetPistonParam}, // {"dJointAddPistonForce", (void **) &dJointAddPistonForce}, // {"dJointSetFixed", (void **) &dJointSetFixed}, // {"dJointSetFixedParam", (void **) &dJointSetFixedParam}, // {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes}, // {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis}, // {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle}, // {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam}, // {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode}, // {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques}, // {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes}, // {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis}, // {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam}, // {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam}, // {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam}, // {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam}, // {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor}, // {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2}, // {"dJointGetBallParam", (void **) &dJointGetBallParam}, // {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor}, // {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2}, // {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis}, // {"dJointGetHingeParam", (void **) &dJointGetHingeParam}, // {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle}, // {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate}, // {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition}, // {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate}, // {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis}, // {"dJointGetSliderParam", (void **) &dJointGetSliderParam}, // {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor}, // {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2}, // {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1}, // {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2}, // {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param}, // {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1}, // {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate}, // {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate}, // {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor}, // {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2}, // {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1}, // {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2}, // {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam}, // {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles}, // {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1}, // {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2}, // {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate}, // {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate}, // {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor}, // {"dJointGetPRPosition", (void **) &dJointGetPRPosition}, // {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate}, // {"dJointGetPRAngle", (void **) &dJointGetPRAngle}, // {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate}, // {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1}, // {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2}, // {"dJointGetPRParam", (void **) &dJointGetPRParam}, // {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor}, // {"dJointGetPUPosition", (void **) &dJointGetPUPosition}, // {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate}, // {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1}, // {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2}, // {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3}, // {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP}, // {"dJointGetPUAngles", (void **) &dJointGetPUAngles}, // {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1}, // {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate}, // {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2}, // {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate}, // {"dJointGetPUParam", (void **) &dJointGetPUParam}, // {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition}, // {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate}, // {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle}, // {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate}, // {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor}, // {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2}, // {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis}, // {"dJointGetPistonParam", (void **) &dJointGetPistonParam}, // {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes}, // {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis}, // {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel}, // {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle}, // {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate}, // {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam}, // {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode}, // {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes}, // {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis}, // {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam}, // {"dJointGetFixedParam", (void **) &dJointGetFixedParam}, // {"dConnectingJoint", (void **) &dConnectingJoint}, // {"dConnectingJointList", (void **) &dConnectingJointList}, {"dAreConnected", (void **) &dAreConnected}, {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding}, {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate}, {"dHashSpaceCreate", (void **) &dHashSpaceCreate}, {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate}, {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate}, {"dSpaceDestroy", (void **) &dSpaceDestroy}, // {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels}, // {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels}, // {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup}, // {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup}, // {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel}, // {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel}, // {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup}, // {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup}, // {"dSpaceAdd", (void **) &dSpaceAdd}, // {"dSpaceRemove", (void **) &dSpaceRemove}, // {"dSpaceQuery", (void **) &dSpaceQuery}, // {"dSpaceClean", (void **) &dSpaceClean}, // {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms}, // {"dSpaceGetGeom", (void **) &dSpaceGetGeom}, // {"dSpaceGetClass", (void **) &dSpaceGetClass}, {"dGeomDestroy", (void **) &dGeomDestroy}, // {"dGeomSetData", (void **) &dGeomSetData}, // {"dGeomGetData", (void **) &dGeomGetData}, {"dGeomSetBody", (void **) &dGeomSetBody}, {"dGeomGetBody", (void **) &dGeomGetBody}, // {"dGeomSetPosition", (void **) &dGeomSetPosition}, {"dGeomSetRotation", (void **) &dGeomSetRotation}, // {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion}, // {"dGeomGetPosition", (void **) &dGeomGetPosition}, // {"dGeomCopyPosition", (void **) &dGeomCopyPosition}, // {"dGeomGetRotation", (void **) &dGeomGetRotation}, // {"dGeomCopyRotation", (void **) &dGeomCopyRotation}, // {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion}, // {"dGeomGetAABB", (void **) &dGeomGetAABB}, {"dGeomIsSpace", (void **) &dGeomIsSpace}, // {"dGeomGetSpace", (void **) &dGeomGetSpace}, // {"dGeomGetClass", (void **) &dGeomGetClass}, // {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits}, // {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits}, // {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits}, // {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits}, // {"dGeomEnable", (void **) &dGeomEnable}, // {"dGeomDisable", (void **) &dGeomDisable}, // {"dGeomIsEnabled", (void **) &dGeomIsEnabled}, // {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition}, // {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation}, // {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion}, // {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition}, // {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation}, // {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion}, // {"dGeomClearOffset", (void **) &dGeomClearOffset}, // {"dGeomIsOffset", (void **) &dGeomIsOffset}, // {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition}, // {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition}, // {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation}, // {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation}, // {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion}, {"dCollide", (void **) &dCollide}, {"dSpaceCollide", (void **) &dSpaceCollide}, {"dSpaceCollide2", (void **) &dSpaceCollide2}, {"dCreateSphere", (void **) &dCreateSphere}, // {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius}, // {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius}, // {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth}, // {"dCreateConvex", (void **) &dCreateConvex}, // {"dGeomSetConvex", (void **) &dGeomSetConvex}, {"dCreateBox", (void **) &dCreateBox}, // {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths}, // {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths}, // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth}, // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth}, // {"dCreatePlane", (void **) &dCreatePlane}, // {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams}, // {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams}, // {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth}, {"dCreateCapsule", (void **) &dCreateCapsule}, // {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams}, // {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams}, // {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth}, // {"dCreateCylinder", (void **) &dCreateCylinder}, // {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams}, // {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams}, // {"dCreateRay", (void **) &dCreateRay}, // {"dGeomRaySetLength", (void **) &dGeomRaySetLength}, // {"dGeomRayGetLength", (void **) &dGeomRayGetLength}, // {"dGeomRaySet", (void **) &dGeomRaySet}, // {"dGeomRayGet", (void **) &dGeomRayGet}, {"dCreateGeomTransform", (void **) &dCreateGeomTransform}, {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom}, // {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom}, {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup}, // {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup}, // {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo}, // {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo}, {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate}, {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy}, // {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet}, // {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet}, // {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform}, // {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform}, {"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle}, // {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1}, // {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble}, // {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1}, // {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple}, // {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1}, // {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess}, // {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer}, // {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer}, // {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback}, // {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback}, // {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback}, // {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback}, // {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback}, // {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback}, // {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback}, // {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback}, {"dCreateTriMesh", (void **) &dCreateTriMesh}, // {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData}, // {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData}, // {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC}, // {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled}, // {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache}, // {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID}, // {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle}, // {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint}, // {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount}, // {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate}, {NULL, NULL} }; // Handle for ODE DLL dllhandle_t ode_dll = NULL; #endif #endif static void World_Physics_Init(void) { #ifdef USEODE #ifndef ODE_STATIC const char* dllnames [] = { # if defined(WIN64) "libode1_64.dll", # elif defined(WIN32) "libode1.dll", # elif defined(MACOSX) "libode.1.dylib", # else "libode.so.1", # endif NULL }; #endif Cvar_RegisterVariable(&physics_ode_quadtree_depth); Cvar_RegisterVariable(&physics_ode_contactsurfacelayer); Cvar_RegisterVariable(&physics_ode_worldquickstep); Cvar_RegisterVariable(&physics_ode_worldquickstep_iterations); Cvar_RegisterVariable(&physics_ode_worldstepfast); Cvar_RegisterVariable(&physics_ode_worldstepfast_iterations); Cvar_RegisterVariable(&physics_ode_contact_mu); Cvar_RegisterVariable(&physics_ode_contact_erp); Cvar_RegisterVariable(&physics_ode_contact_cfm); Cvar_RegisterVariable(&physics_ode_iterationsperframe); Cvar_RegisterVariable(&physics_ode_movelimit); Cvar_RegisterVariable(&physics_ode_spinlimit); #ifndef ODE_STATIC // Load the DLL if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs)) #endif { dInitODE2(0); #ifndef ODE_STATIC # ifdef dSINGLE if (!dCheckConfiguration("ODE_single_precision")) # else if (!dCheckConfiguration("ODE_double_precision")) # endif { # ifdef dSINGLE Con_Printf("ode library not compiled for single precision - incompatible! Not using ODE physics.\n"); # else Con_Printf("ode library not compiled for double precision - incompatible! Not using ODE physics.\n"); # endif Sys_UnloadLibrary(ode_dll); ode_dll = NULL; } #endif } #endif } static void World_Physics_Shutdown(void) { #ifdef USEODE #ifndef ODE_STATIC if (ode_dll) #endif { dCloseODE(); #ifndef ODE_STATIC Sys_UnloadLibrary(ode_dll); ode_dll = NULL; #endif } #endif } #ifdef USEODE static void World_Physics_EnableODE(world_t *world) { dVector3 center, extents; if (world->physics.ode) return; #ifndef ODE_STATIC if (!ode_dll) return; #endif world->physics.ode = true; VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center); VectorSubtract(world->maxs, center, extents); world->physics.ode_world = dWorldCreate(); world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10)); world->physics.ode_contactgroup = dJointGroupCreate(0); // we don't currently set dWorldSetCFM or dWorldSetERP because the defaults seem fine } #endif static void World_Physics_Start(world_t *world) { #ifdef USEODE if (world->physics.ode) return; World_Physics_EnableODE(world); #endif } static void World_Physics_End(world_t *world) { #ifdef USEODE if (world->physics.ode) { dWorldDestroy(world->physics.ode_world); dSpaceDestroy(world->physics.ode_space); dJointGroupDestroy(world->physics.ode_contactgroup); world->physics.ode = false; } #endif } void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed) { #ifdef USEODE // entity is not physics controlled, free any physics data ed->priv.server->ode_physics = false; if (ed->priv.server->ode_geom) dGeomDestroy((dGeomID)ed->priv.server->ode_geom); ed->priv.server->ode_geom = NULL; if (ed->priv.server->ode_body) dBodyDestroy((dBodyID)ed->priv.server->ode_body); ed->priv.server->ode_body = NULL; if (ed->priv.server->ode_vertex3f) Mem_Free(ed->priv.server->ode_vertex3f); ed->priv.server->ode_vertex3f = NULL; ed->priv.server->ode_numvertices = 0; if (ed->priv.server->ode_element3i) Mem_Free(ed->priv.server->ode_element3i); ed->priv.server->ode_element3i = NULL; ed->priv.server->ode_numtriangles = 0; #endif } #ifdef USEODE static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed) { const dReal *avel; const dReal *o; const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix const dReal *vel; dBodyID body = (dBodyID)ed->priv.server->ode_body; int movetype; matrix4x4_t bodymatrix; matrix4x4_t entitymatrix; prvm_eval_t *val; vec3_t forward, left, up; vec3_t origin; vec3_t spinvelocity; vec3_t velocity; if (!body) return; val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype); movetype = (int)val->_float; if (movetype != MOVETYPE_PHYSICS) return; // store the physics engine data into the entity o = dBodyGetPosition(body); r = dBodyGetRotation(body); vel = dBodyGetLinearVel(body); avel = dBodyGetAngularVel(body); VectorCopy(o, origin); forward[0] = r[0]; forward[1] = r[4]; forward[2] = r[8]; left[0] = r[1]; left[1] = r[5]; left[2] = r[9]; up[0] = r[2]; up[1] = r[6]; up[2] = r[10]; VectorCopy(vel, velocity); VectorCopy(avel, spinvelocity); Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin); Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix); Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) AnglesFromVectors(val->vector, forward, up, true); } static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) { const float *iv; const int *ie; dBodyID body = (dBodyID)ed->priv.server->ode_body; dMass mass; dReal test; void *dataID; dVector3 capsulerot[3]; dp_model_t *model; float *ov; int *oe; int axisindex; int modelindex = 0; int movetype; int numtriangles; int numvertices; int solid; int triangleindex; int vertexindex; mempool_t *mempool; prvm_eval_t *val; vec3_t angles; vec3_t avelocity; vec3_t entmaxs; vec3_t entmins; vec3_t forward; vec3_t geomcenter; vec3_t geomsize; vec3_t left; vec3_t origin; vec3_t spinvelocity; vec3_t up; vec3_t velocity; vec_t f; vec_t length; vec_t massval = 1.0f; vec_t movelimit; vec_t radius; vec_t spinlimit; #ifndef ODE_STATIC if (!ode_dll) return; #endif val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid); solid = (int)val->_float; val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype); movetype = (int)val->_float; switch(solid) { case SOLID_BSP: val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex); modelindex = (int)val->_float; if (world == &sv.world && modelindex >= 1 && modelindex < MAX_MODELS) { model = sv.models[modelindex]; mempool = sv_mempool; } else if (world == &cl.world && modelindex >= 1 && modelindex < MAX_MODELS) { model = cl.model_precache[modelindex]; mempool = cls.levelmempool; } else { model = NULL; mempool = NULL; modelindex = 0; } if (model) { VectorCopy(model->normalmins, entmins); VectorCopy(model->normalmaxs, entmaxs); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float; } else { modelindex = 0; massval = 1.0f; } break; case SOLID_BBOX: //case SOLID_SLIDEBOX: case SOLID_CORPSE: case SOLID_PHYSICS_BOX: case SOLID_PHYSICS_SPHERE: case SOLID_PHYSICS_CAPSULE: val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mins);if (val) VectorCopy(val->vector, entmins); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.maxs);if (val) VectorCopy(val->vector, entmaxs); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float; break; default: if (ed->priv.server->ode_physics) World_Physics_RemoveFromEntity(world, ed); return; } VectorSubtract(entmaxs, entmins, geomsize); if (VectorLength2(geomsize) == 0) { // we don't allow point-size physics objects... if (ed->priv.server->ode_physics) World_Physics_RemoveFromEntity(world, ed); return; } if (movetype != MOVETYPE_PHYSICS) massval = 1.0f; // check if we need to create or replace the geom if (!ed->priv.server->ode_physics || !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs) || ed->priv.server->ode_mass != massval || ed->priv.server->ode_modelindex != modelindex) { World_Physics_RemoveFromEntity(world, ed); ed->priv.server->ode_physics = true; VectorCopy(entmins, ed->priv.server->ode_mins); VectorCopy(entmaxs, ed->priv.server->ode_maxs); ed->priv.server->ode_mass = massval; ed->priv.server->ode_modelindex = modelindex; VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter); ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2])); if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0) { if (movetype == MOVETYPE_PHYSICS) 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)); massval = 1.0f; VectorSet(geomsize, 1.0f, 1.0f, 1.0f); } switch(solid) { case SOLID_BSP: ed->priv.server->ode_offsetmatrix = identitymatrix; if (!model) { Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string)); break; } // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces if (!model->brush.collisionmesh) Mod_CreateCollisionMesh(model); if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles) { Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string)); break; } // ODE requires persistent mesh storage, so we need to copy out // the data from the model because renderer restarts could free it // during the game, additionally we need to flip the triangles... // note: ODE does preprocessing of the mesh for culling, removing // concave edges, etc., so this is not a lightweight operation ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts; ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3])); for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3) { ov[0] = iv[0] - geomcenter[0]; ov[1] = iv[1] - geomcenter[1]; ov[2] = iv[2] - geomcenter[2]; } ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles; ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3])); //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3])); for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3) { oe[0] = ie[2]; oe[1] = ie[1]; oe[2] = ie[0]; } Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); // now create the geom dataID = dGeomTriMeshDataCreate(); 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])); ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world)); ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL); dGeomSetBody(ed->priv.server->ode_geom, body); dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); dBodySetMass(body, &mass); dBodySetData(body, (void*)ed); break; case SOLID_BBOX: case SOLID_SLIDEBOX: case SOLID_CORPSE: case SOLID_PHYSICS_BOX: Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world)); ed->priv.server->ode_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]); dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); dGeomSetBody(ed->priv.server->ode_geom, body); dBodySetMass(body, &mass); dBodySetData(body, (void*)ed); break; case SOLID_PHYSICS_SPHERE: Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world)); ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f); dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f); dGeomSetBody(ed->priv.server->ode_geom, body); dBodySetMass(body, &mass); dBodySetData(body, (void*)ed); break; case SOLID_PHYSICS_CAPSULE: axisindex = 0; if (geomsize[axisindex] < geomsize[1]) axisindex = 1; if (geomsize[axisindex] < geomsize[2]) axisindex = 2; // the qc gives us 3 axis radius, the longest axis is the capsule // axis, since ODE doesn't like this idea we have to create a // capsule which uses the standard orientation, and apply a // transform to it memset(capsulerot, 0, sizeof(capsulerot)); if (axisindex == 0) Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); else if (axisindex == 1) Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); else Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius length = geomsize[axisindex] - radius*2; // because we want to support more than one axisindex, we have to // create a transform, and turn on its cleanup setting (which will // cause the child to be destroyed when it is destroyed) ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world)); ed->priv.server->ode_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length); dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length); dGeomSetBody(ed->priv.server->ode_geom, body); dBodySetMass(body, &mass); dBodySetData(body, (void*)ed); break; default: Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid); } Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix); } // get current data from entity VectorClear(origin); VectorClear(forward); VectorClear(left); VectorClear(up); VectorClear(velocity); VectorClear(spinvelocity); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity); // compatibility for legacy entities switch (solid) { case SOLID_BSP: //VectorClear(velocity); VectorClear(angles); VectorClear(avelocity); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles); val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, avelocity); AngleVectorsFLU(angles, forward, left, up); // convert single-axis rotations in avelocity to spinvelocity // FIXME: untested math - check signs VectorSet(spinvelocity, avelocity[PITCH] * ((float)M_PI / 180.0f), avelocity[ROLL] * ((float)M_PI / 180.0f), avelocity[YAW] * ((float)M_PI / 180.0f)); break; case SOLID_BBOX: case SOLID_SLIDEBOX: case SOLID_CORPSE: //VectorClear(velocity); VectorSet(forward, 1, 0, 0); VectorSet(left, 0, 1, 0); VectorSet(up, 0, 0, 1); VectorSet(spinvelocity, 0, 0, 0); break; } // we must prevent NANs... test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity); if (IS_NAN(test)) { 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]); test = VectorLength2(origin); if (IS_NAN(test)) VectorClear(origin); test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up); if (IS_NAN(test)) { VectorSet(forward, 1, 0, 0); VectorSet(left, 0, 1, 0); VectorSet(up, 0, 0, 1); } test = VectorLength2(velocity); if (IS_NAN(test)) VectorClear(velocity); test = VectorLength2(spinvelocity); if (IS_NAN(test)) { VectorClear(spinvelocity); } } // limit movement speed to prevent missed collisions at high speed movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit; test = VectorLength2(velocity); if (test > movelimit*movelimit) { // scale down linear velocity to the movelimit // scale down angular velocity the same amount for consistency f = movelimit / sqrt(test); VectorScale(velocity, f, velocity); VectorScale(spinvelocity, f, spinvelocity); } // make sure the angular velocity is not exploding spinlimit = physics_ode_spinlimit.value; test = VectorLength2(spinvelocity); if (test > spinlimit) VectorClear(spinvelocity); // store the values into the physics engine body = ed->priv.server->ode_body; if (body) { dVector3 r[3]; matrix4x4_t entitymatrix; matrix4x4_t bodymatrix; Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin); Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix); Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin); r[0][0] = forward[0]; r[1][0] = forward[1]; r[2][0] = forward[2]; r[0][1] = left[0]; r[1][1] = left[1]; r[2][1] = left[2]; r[0][2] = up[0]; r[1][2] = up[1]; r[2][2] = up[2]; dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_body); dBodySetPosition(body, origin[0], origin[1], origin[2]); dBodySetRotation(body, r[0]); dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]); dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]); // setting body to NULL makes an immovable object if (movetype != MOVETYPE_PHYSICS) dGeomSetBody(ed->priv.server->ode_geom, 0); } } #define MAX_CONTACTS 16 static void nearCallback (void *data, dGeomID o1, dGeomID o2) { world_t *world = (world_t *)data; dContact contact[MAX_CONTACTS]; // max contacts per collision pair dBodyID b1; dBodyID b2; dJointID c; int i; int numcontacts; if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) { // colliding a space with something dSpaceCollide2(o1, o2, data, &nearCallback); // Note we do not want to test intersections within a space, // only between spaces. //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback); //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback); return; } b1 = dGeomGetBody(o1); b2 = dGeomGetBody(o2); // at least one object has to be using MOVETYPE_PHYSICS or we just don't care if (!b1 && !b2) return; // exit without doing anything if the two bodies are connected by a joint if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact)) return; // generate contact points between the two non-space geoms numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0])); // add these contact points to the simulation for (i = 0;i < numcontacts;i++) { 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); contact[i].surface.mu = physics_ode_contact_mu.value; contact[i].surface.soft_erp = physics_ode_contact_erp.value; contact[i].surface.soft_cfm = physics_ode_contact_cfm.value; c = dJointCreateContact(world->physics.ode_world, world->physics.ode_contactgroup, contact + i); dJointAttach(c, b1, b2); } } #endif void World_Physics_Frame(world_t *world, double frametime, double gravity) { #ifdef USEODE if (world->physics.ode) { int i; prvm_edict_t *ed; // copy physics properties from entities to physics engine if (prog) for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) if (!prog->edicts[i].priv.required->free) World_Physics_Frame_BodyFromEntity(world, ed); world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000); world->physics.ode_step = frametime / world->physics.ode_iterations; world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step; for (i = 0;i < world->physics.ode_iterations;i++) { // set the gravity dWorldSetGravity(world->physics.ode_world, 0, 0, -gravity); // set the tolerance for closeness of objects dWorldSetContactSurfaceLayer(world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value)); // run collisions for the current world state, creating JointGroup dSpaceCollide(world->physics.ode_space, (void *)world, nearCallback); // run physics (move objects, calculate new velocities) if (physics_ode_worldquickstep.integer) { dWorldSetQuickStepNumIterations(world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200)); dWorldQuickStep(world->physics.ode_world, world->physics.ode_step); } else if (physics_ode_worldstepfast.integer) dWorldStepFast1(world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstepfast_iterations.integer, 200)); else dWorldStep(world->physics.ode_world, world->physics.ode_step); // clear the JointGroup now that we're done with it dJointGroupEmpty(world->physics.ode_contactgroup); } // copy physics properties from physics engine to entities if (prog) for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) if (!prog->edicts[i].priv.required->free && PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype)->_float == MOVETYPE_PHYSICS) World_Physics_Frame_BodyToEntity(world, ed); } #endif }