// world.c -- world query functions
#include "quakedef.h"
+#include "clvm_cmds.h"
/*
*/
-cvar_t sv_debugmove = {CVAR_NOTIFY, "sv_debugmove", "0"};
-cvar_t sv_areagrid_mingridsize = {CVAR_NOTIFY, "sv_areagrid_mingridsize", "64"};
+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();
+}
-void SV_AreaStats_f(void);
+static void World_Physics_Start(world_t *world);
+void World_Start(world_t *world)
+{
+ World_Physics_Start(world);
+}
-void SV_World_Init(void)
+static void World_Physics_End(world_t *world);
+void World_End(world_t *world)
{
- Cvar_RegisterVariable(&sv_debugmove);
- Cvar_RegisterVariable(&sv_areagrid_mingridsize);
- Cmd_AddCommand("sv_areastats", SV_AreaStats_f);
- Collision_Init();
+ World_Physics_End(world);
}
//============================================================================
-// ClearLink is used for new headnodes
-static void ClearLink (link_t *l)
+/// World_ClearLink is used for new headnodes
+void World_ClearLink (link_t *l)
{
l->entitynumber = 0;
l->prev = l->next = l;
}
-static void RemoveLink (link_t *l)
+void World_RemoveLink (link_t *l)
{
l->next->prev = l->prev;
l->prev->next = l->next;
}
-static void InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
+void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
{
l->entitynumber = entitynumber;
l->next = before;
l->next->prev = l;
}
-
/*
===============================================================================
===============================================================================
*/
-int sv_areagrid_stats_calls = 0;
-int sv_areagrid_stats_nodechecks = 0;
-int sv_areagrid_stats_entitychecks = 0;
-
-void SV_AreaStats_f(void)
+void World_PrintAreaStats(world_t *world, const char *worldname)
{
- Con_Printf("areagrid check stats: %d calls %d nodes (%f per call) %d entities (%f per call)\n", sv_areagrid_stats_calls, sv_areagrid_stats_nodechecks, (double) sv_areagrid_stats_nodechecks / (double) sv_areagrid_stats_calls, sv_areagrid_stats_entitychecks, (double) sv_areagrid_stats_entitychecks / (double) sv_areagrid_stats_calls);
- sv_areagrid_stats_calls = 0;
- sv_areagrid_stats_nodechecks = 0;
- sv_areagrid_stats_entitychecks = 0;
+ 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;
}
-typedef struct areagrid_s
-{
- link_t edicts;
-}
-areagrid_t;
-
-#define AREA_GRID 512
-#define AREA_GRIDNODES (AREA_GRID * AREA_GRID)
-
-static areagrid_t sv_areagrid[AREA_GRIDNODES], sv_areagrid_outside;
-static vec3_t sv_areagrid_bias, sv_areagrid_scale, sv_areagrid_mins, sv_areagrid_maxs, sv_areagrid_size;
-static int sv_areagrid_marknumber = 1;
+/*
+===============
+World_SetSize
-void SV_CreateAreaGrid (vec3_t mins, vec3_t maxs)
+===============
+*/
+void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs)
{
int i;
- ClearLink (&sv_areagrid_outside.edicts);
+
+ 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
- sv_areagrid_size[0] = max(maxs[0] - mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
- sv_areagrid_size[1] = max(maxs[1] - mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
- sv_areagrid_size[2] = max(maxs[2] - mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
+ 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
- sv_areagrid_mins[0] = (mins[0] + maxs[0] - sv_areagrid_size[0]) * 0.5f;
- sv_areagrid_mins[1] = (mins[1] + maxs[1] - sv_areagrid_size[1]) * 0.5f;
- sv_areagrid_mins[2] = (mins[2] + maxs[2] - sv_areagrid_size[2]) * 0.5f;
- sv_areagrid_maxs[0] = (mins[0] + maxs[0] + sv_areagrid_size[0]) * 0.5f;
- sv_areagrid_maxs[1] = (mins[1] + maxs[1] + sv_areagrid_size[1]) * 0.5f;
- sv_areagrid_maxs[2] = (mins[2] + maxs[2] + sv_areagrid_size[2]) * 0.5f;
+ 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(sv_areagrid_mins, sv_areagrid_bias);
- sv_areagrid_scale[0] = AREA_GRID / sv_areagrid_size[0];
- sv_areagrid_scale[1] = AREA_GRID / sv_areagrid_size[1];
- sv_areagrid_scale[2] = AREA_GRID / sv_areagrid_size[2];
+ 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++)
- {
- ClearLink (&sv_areagrid[i].edicts);
- }
- Con_DPrintf("sv_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, sv_areagrid_mins[0], sv_areagrid_mins[1], sv_areagrid_mins[2], sv_areagrid_maxs[0], sv_areagrid_maxs[1], sv_areagrid_maxs[2], sv_areagrid_size[0], sv_areagrid_size[1], sv_areagrid_size[2], 1.0f / sv_areagrid_scale[0], 1.0f / sv_areagrid_scale[1], 1.0f / sv_areagrid_scale[2], sv_areagrid_mingridsize.value);
+ 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);
}
/*
===============
-SV_ClearWorld
+World_UnlinkAll
===============
*/
-void SV_ClearWorld (void)
+void World_UnlinkAll(world_t *world)
{
- Mod_CheckLoaded(sv.worldmodel);
- SV_CreateAreaGrid(sv.worldmodel->normalmins, sv.worldmodel->normalmaxs);
+ 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));
}
-
/*
===============
-SV_UnlinkEdict
===============
*/
-void SV_UnlinkEdict (edict_t *ent)
+void World_UnlinkEdict(prvm_edict_t *ent)
{
int i;
for (i = 0;i < ENTITYGRIDAREAS;i++)
{
- if (ent->e->areagrid[i].prev)
+ if (ent->priv.server->areagrid[i].prev)
{
- RemoveLink (&ent->e->areagrid[i]);
- ent->e->areagrid[i].prev = ent->e->areagrid[i].next = NULL;
+ World_RemoveLink (&ent->priv.server->areagrid[i]);
+ ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL;
}
}
}
-int SV_EntitiesInBox(vec3_t mins, vec3_t maxs, int maxlist, edict_t **list)
+int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, prvm_edict_t **list)
{
int numlist;
- areagrid_t *grid;
+ link_t *grid;
link_t *l;
- edict_t *ent;
+ prvm_edict_t *ent;
int igrid[3], igridmins[3], igridmaxs[3];
- sv_areagrid_stats_calls++;
- sv_areagrid_marknumber++;
- igridmins[0] = (int) ((mins[0] + sv_areagrid_bias[0]) * sv_areagrid_scale[0]);
- igridmins[1] = (int) ((mins[1] + sv_areagrid_bias[1]) * sv_areagrid_scale[1]);
- //igridmins[2] = (int) ((mins[2] + sv_areagrid_bias[2]) * sv_areagrid_scale[2]);
- igridmaxs[0] = (int) ((maxs[0] + sv_areagrid_bias[0]) * sv_areagrid_scale[0]) + 1;
- igridmaxs[1] = (int) ((maxs[1] + sv_areagrid_bias[1]) * sv_areagrid_scale[1]) + 1;
- //igridmaxs[2] = (int) ((maxs[2] + sv_areagrid_bias[2]) * sv_areagrid_scale[2]) + 1;
+ // 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]);
numlist = 0;
// add entities not linked into areagrid because they are too big or
// outside the grid bounds
- if (sv_areagrid_outside.edicts.next != &sv_areagrid_outside.edicts)
+ if (world->areagrid_outside.next != &world->areagrid_outside)
{
- for (l = sv_areagrid_outside.edicts.next;l != &sv_areagrid_outside.edicts;l = l->next)
+ grid = &world->areagrid_outside;
+ for (l = grid->next;l != grid;l = l->next)
{
- ent = EDICT_NUM_UNSIGNED(l->entitynumber);
- if (ent->e->areagridmarknumber != sv_areagrid_marknumber)
+ ent = PRVM_EDICT_NUM(l->entitynumber);
+ if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
{
- ent->e->areagridmarknumber = sv_areagrid_marknumber;
- if (!ent->e->free && BoxesOverlap(mins, maxs, ent->v->absmin, ent->v->absmax))
+ 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++;
}
- sv_areagrid_stats_entitychecks++;
+ world->areagrid_stats_entitychecks++;
}
}
}
// add grid linked entities
for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
{
- grid = sv_areagrid + igrid[1] * AREA_GRID + igridmins[0];
+ grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
{
- if (grid->edicts.next != &grid->edicts)
+ if (grid->next != grid)
{
- for (l = grid->edicts.next;l != &grid->edicts;l = l->next)
+ for (l = grid->next;l != grid;l = l->next)
{
- ent = EDICT_NUM_UNSIGNED(l->entitynumber);
- if (ent->e->areagridmarknumber != sv_areagrid_marknumber)
+ ent = PRVM_EDICT_NUM(l->entitynumber);
+ if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
{
- ent->e->areagridmarknumber = sv_areagrid_marknumber;
- if (!ent->e->free && BoxesOverlap(mins, maxs, ent->v->absmin, ent->v->absmax))
+ 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]);
}
- sv_areagrid_stats_entitychecks++;
+ world->areagrid_stats_entitychecks++;
}
}
}
return numlist;
}
-void SV_TouchAreaGrid(edict_t *ent)
+void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
{
- int i, numtouchedicts, old_self, old_other;
- edict_t *touch, *touchedicts[MAX_EDICTS];
+ link_t *grid;
+ int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
- // build a list of edicts to touch, because the link loop can be corrupted
- // by SV_IncreaseEdicts called during touch functions
- numtouchedicts = SV_EntitiesInBox(ent->v->absmin, ent->v->absmax, MAX_EDICTS, touchedicts);
- if (numtouchedicts > MAX_EDICTS)
+ if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
{
- // this never happens
- Con_Printf("SV_EntitiesInBox returned %i edicts, max was %i\n", numtouchedicts, MAX_EDICTS);
- numtouchedicts = MAX_EDICTS;
- }
-
- old_self = pr_global_struct->self;
- old_other = pr_global_struct->other;
- for (i = 0;i < numtouchedicts;i++)
- {
- touch = touchedicts[i];
- if (touch != ent && (int)touch->v->solid == SOLID_TRIGGER && touch->v->touch)
- {
- pr_global_struct->self = EDICT_TO_PROG(touch);
- pr_global_struct->other = EDICT_TO_PROG(ent);
- pr_global_struct->time = sv.time;
- PR_ExecuteProgram (touch->v->touch, "QC function self.touch is missing");
- }
+ 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;
}
- pr_global_struct->self = old_self;
- pr_global_struct->other = old_other;
-}
-
-void SV_LinkEdict_AreaGrid(edict_t *ent)
-{
- areagrid_t *grid;
- int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = NUM_FOR_EDICT(ent);
- if (entitynumber <= 0 || entitynumber >= sv.max_edicts || EDICT_NUM(entitynumber) != ent)
- Host_Error("SV_LinkEdict_AreaGrid: invalid edict %p (sv.edicts is %p, edict compared to sv.edicts is %i)\n", ent, sv.edicts, entitynumber);
-
- igridmins[0] = (int) ((ent->v->absmin[0] + sv_areagrid_bias[0]) * sv_areagrid_scale[0]);
- igridmins[1] = (int) ((ent->v->absmin[1] + sv_areagrid_bias[1]) * sv_areagrid_scale[1]);
- //igridmins[2] = (int) ((ent->v->absmin[2] + sv_areagrid_bias[2]) * sv_areagrid_scale[2]);
- igridmaxs[0] = (int) ((ent->v->absmax[0] + sv_areagrid_bias[0]) * sv_areagrid_scale[0]) + 1;
- igridmaxs[1] = (int) ((ent->v->absmax[1] + sv_areagrid_bias[1]) * sv_areagrid_scale[1]) + 1;
- //igridmaxs[2] = (int) ((ent->v->absmax[2] + sv_areagrid_bias[2]) * sv_areagrid_scale[2]) + 1;
+ 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
- InsertLinkBefore (&ent->e->areagrid[0], &sv_areagrid_outside.edicts, entitynumber);
+ 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 = sv_areagrid + igrid[1] * AREA_GRID + igridmins[0];
+ grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
- InsertLinkBefore (&ent->e->areagrid[gridnum], &grid->edicts, entitynumber);
+ World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
}
}
/*
===============
-SV_LinkEdict
+World_LinkEdict
===============
*/
-void SV_LinkEdict (edict_t *ent, qboolean touch_triggers)
+void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
{
- model_t *model;
-
- if (ent->e->areagrid[0].prev)
- SV_UnlinkEdict (ent); // unlink from old position
+ // unlink from old position first
+ if (ent->priv.server->areagrid[0].prev)
+ World_UnlinkEdict(ent);
- if (ent == sv.edicts)
- return; // don't add the world
+ // don't add the world
+ if (ent == prog->edicts)
+ return;
- if (ent->e->free)
+ // don't add free entities
+ if (ent->priv.server->free)
return;
-// set the abs box
+ VectorCopy(mins, ent->priv.server->areamins);
+ VectorCopy(maxs, ent->priv.server->areamaxs);
+ World_LinkEdict_AreaGrid(world, ent);
+}
- if (ent->v->solid == SOLID_BSP)
- {
- int modelindex = ent->v->modelindex;
- if (modelindex < 0 || modelindex > MAX_MODELS)
- {
- Con_Printf("edict %i: SOLID_BSP with invalid modelindex!\n", NUM_FOR_EDICT(ent));
- modelindex = 0;
- }
- model = sv.models[modelindex];
- if (model != NULL)
- {
- Mod_CheckLoaded(model);
- if (!model->TraceBox)
- Con_Printf("edict %i: SOLID_BSP with non-collidable model\n", NUM_FOR_EDICT(ent));
- if (ent->v->angles[0] || ent->v->angles[2] || ent->v->avelocity[0] || ent->v->avelocity[2])
- {
- VectorAdd(ent->v->origin, model->rotatedmins, ent->v->absmin);
- VectorAdd(ent->v->origin, model->rotatedmaxs, ent->v->absmax);
- }
- else if (ent->v->angles[1] || ent->v->avelocity[1])
- {
- VectorAdd(ent->v->origin, model->yawmins, ent->v->absmin);
- VectorAdd(ent->v->origin, model->yawmaxs, ent->v->absmax);
- }
- else
- {
- VectorAdd(ent->v->origin, model->normalmins, ent->v->absmin);
- VectorAdd(ent->v->origin, model->normalmaxs, ent->v->absmax);
- }
- }
- else
- {
- // SOLID_BSP with no model is valid, mainly because some QC setup code does so temporarily
- VectorAdd(ent->v->origin, ent->v->mins, ent->v->absmin);
- VectorAdd(ent->v->origin, ent->v->maxs, ent->v->absmax);
- }
- }
- else
- {
- VectorAdd(ent->v->origin, ent->v->mins, ent->v->absmin);
- VectorAdd(ent->v->origin, ent->v->maxs, ent->v->absmax);
- }
-//
-// to make items easier to pick up and allow them to be grabbed off
-// of shelves, the abs sizes are expanded
-//
- if ((int)ent->v->flags & FL_ITEM)
- {
- ent->v->absmin[0] -= 15;
- ent->v->absmin[1] -= 15;
- ent->v->absmin[2] -= 1;
- ent->v->absmax[0] += 15;
- ent->v->absmax[1] += 15;
- ent->v->absmax[2] += 1;
- }
- else
- {
- // because movement is clipped an epsilon away from an actual edge,
- // we must fully check even when bounding boxes don't quite touch
- ent->v->absmin[0] -= 1;
- ent->v->absmin[1] -= 1;
- ent->v->absmin[2] -= 1;
- ent->v->absmax[0] += 1;
- ent->v->absmax[1] += 1;
- ent->v->absmax[2] += 1;
- }
- if (ent->v->solid == SOLID_NOT)
- return;
+//============================================================================
+// physics engine support
+//============================================================================
- SV_LinkEdict_AreaGrid(ent);
+//#ifndef ODE_STATIC
+//#define ODE_DYNAMIC 1
+//#endif
-// if touch_triggers, touch all entities at this node and descend for more
- if (touch_triggers)
- SV_TouchAreaGrid(ent);
+#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
+#define USEODE 1
+#endif
+
+#ifdef USEODE
+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_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
+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.
+
+#ifdef ODE_STATIC
+#include "ode/ode.h"
+#else
+#ifdef WINAPI
+// ODE does not use WINAPI
+#define ODE_API
+#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;
+
+#define dInfinity 3.402823466e+38f
+
+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;
+
+#define D_ALL_PARAM_NAMES(start) \
+ /* parameters for limits and motors */ \
+ dParamLoStop = start, \
+ dParamHiStop, \
+ dParamVel, \
+ dParamFMax, \
+ dParamFudgeFactor, \
+ dParamBounce, \
+ dParamCFM, \
+ dParamStopERP, \
+ dParamStopCFM, \
+ /* parameters for suspension */ \
+ dParamSuspensionERP, \
+ dParamSuspensionCFM, \
+ dParamERP, \
+
+#define D_ALL_PARAM_NAMES_X(start,x) \
+ /* parameters for limits and motors */ \
+ dParamLoStop ## x = start, \
+ dParamHiStop ## x, \
+ dParamVel ## x, \
+ dParamFMax ## x, \
+ dParamFudgeFactor ## x, \
+ dParamBounce ## x, \
+ dParamCFM ## x, \
+ dParamStopERP ## x, \
+ dParamStopCFM ## x, \
+ /* parameters for suspension */ \
+ dParamSuspensionERP ## x, \
+ dParamSuspensionCFM ## x, \
+ dParamERP ## x,
+
+enum {
+ D_ALL_PARAM_NAMES(0)
+ D_ALL_PARAM_NAMES_X(0x100,2)
+ D_ALL_PARAM_NAMES_X(0x200,3)
+
+ /* add a multiple of this constant to the basic parameter numbers to get
+ * the parameters for the second, third etc axes.
+ */
+ dParamGroup=0x100
+};
+
+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))
+
+//const char* (ODE_API *dGetConfiguration)(void);
+int (ODE_API *dCheckConfiguration)( const char* token );
+int (ODE_API *dInitODE)(void);
+//int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
+//int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
+//void (ODE_API *dCleanupODEAllDataForThread)(void);
+void (ODE_API *dCloseODE)(void);
+
+//int (ODE_API *dMassCheck)(const dMass *m);
+//void (ODE_API *dMassSetZero)(dMass *);
+//void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
+//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
+void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
+//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
+void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
+//void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
+void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
+//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
+//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
+//void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
+//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
+//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
+//void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
+//
+dWorldID (ODE_API *dWorldCreate)(void);
+void (ODE_API *dWorldDestroy)(dWorldID world);
+void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
+void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
+void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
+//dReal (ODE_API *dWorldGetERP)(dWorldID);
+void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
+//dReal (ODE_API *dWorldGetCFM)(dWorldID);
+void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
+//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
+void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
+void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
+//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
+//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
+//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
+//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
+//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
+void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
+//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
+void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
+//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
+//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
+//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
+//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
+//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
+//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
+//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
+//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
+//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
+//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
+//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
+//void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
+//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
+//void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
+//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
+//void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
+//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
+//void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
+//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
+//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
+//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
+//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
+//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
+//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
+//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
+//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
+//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
+//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
+//dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
+dBodyID (ODE_API *dBodyCreate)(dWorldID);
+void (ODE_API *dBodyDestroy)(dBodyID);
+void (ODE_API *dBodySetData)(dBodyID, void *data);
+void * (ODE_API *dBodyGetData)(dBodyID);
+void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
+void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
+//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
+void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
+void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
+const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
+//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
+const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
+//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
+//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
+//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
+const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
+const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
+void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
+//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
+//void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//const dReal * (ODE_API *dBodyGetForce)(dBodyID);
+//const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
+//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
+//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
+//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
+//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
+//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
+//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
+int (ODE_API *dBodyGetNumJoints)(dBodyID b);
+dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
+//void (ODE_API *dBodySetDynamic)(dBodyID);
+//void (ODE_API *dBodySetKinematic)(dBodyID);
+//int (ODE_API *dBodyIsKinematic)(dBodyID);
+//void (ODE_API *dBodyEnable)(dBodyID);
+//void (ODE_API *dBodyDisable)(dBodyID);
+//int (ODE_API *dBodyIsEnabled)(dBodyID);
+void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
+int (ODE_API *dBodyGetGravityMode)(dBodyID b);
+//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
+//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
+//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
+//void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
+//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
+//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
+//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
+//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
+//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
+//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
+//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
+//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
+//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
+//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
+//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
+//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
+//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
+dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
+dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
+void (ODE_API *dJointDestroy)(dJointID);
+dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
+void (ODE_API *dJointGroupDestroy)(dJointGroupID);
+void (ODE_API *dJointGroupEmpty)(dJointGroupID);
+//int (ODE_API *dJointGetNumBodies)(dJointID);
+void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
+//void (ODE_API *dJointEnable)(dJointID);
+//void (ODE_API *dJointDisable)(dJointID);
+//int (ODE_API *dJointIsEnabled)(dJointID);
+void (ODE_API *dJointSetData)(dJointID, void *data);
+void * (ODE_API *dJointGetData)(dJointID);
+//dJointType (ODE_API *dJointGetType)(dJointID);
+dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
+//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
+//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
+void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
+void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
+void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
+void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
+void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
+void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
+//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
+//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
+//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
+//void (ODE_API *dJointSetFixed)(dJointID);
+//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
+//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
+//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
+//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
+//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
+//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetHingeAngle)(dJointID);
+//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
+//dReal (ODE_API *dJointGetSliderPosition)(dJointID);
+//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
+//void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
+//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
+//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
+//void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
+//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
+//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
+//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
+//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
+//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPRPosition)(dJointID);
+//dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
+//dReal (ODE_API *dJointGetPRAngle)(dJointID);
+//dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
+//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPUPosition)(dJointID);
+//dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
+//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
+//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
+//dReal (ODE_API *dJointGetPUAngle1)(dJointID);
+//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
+//dReal (ODE_API *dJointGetPUAngle2)(dJointID);
+//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
+//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetPistonPosition)(dJointID);
+//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
+//dReal (ODE_API *dJointGetPistonAngle)(dJointID);
+//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
+//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
+//int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
+//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
+//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
+//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
+//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
+//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
+//int (ODE_API *dJointGetAMotorMode)(dJointID);
+//int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
+//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
+//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
+//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
+//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
+int (ODE_API *dAreConnected)(dBodyID, dBodyID);
+int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
+//
+dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
+dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
+dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
+//dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
+void (ODE_API *dSpaceDestroy)(dSpaceID);
+//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
+//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
+//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
+//int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
+//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
+//int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
+//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
+//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
+//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
+//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
+//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
+//void (ODE_API *dSpaceClean)(dSpaceID);
+//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
+//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
+//int (ODE_API *dSpaceGetClass)(dSpaceID space);
+//
+void (ODE_API *dGeomDestroy)(dGeomID geom);
+void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
+void * (ODE_API *dGeomGetData)(dGeomID geom);
+void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
+dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
+void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
+//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
+//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
+//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
+//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
+//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
+//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
+//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
+int (ODE_API *dGeomIsSpace)(dGeomID geom);
+//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
+//int (ODE_API *dGeomGetClass)(dGeomID geom);
+//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
+//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
+//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
+//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
+//void (ODE_API *dGeomEnable)(dGeomID geom);
+//void (ODE_API *dGeomDisable)(dGeomID geom);
+//int (ODE_API *dGeomIsEnabled)(dGeomID geom);
+//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
+//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
+//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
+//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
+//void (ODE_API *dGeomClearOffset)(dGeomID geom);
+//int (ODE_API *dGeomIsOffset)(dGeomID geom);
+//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
+//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
+//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
+//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
+//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
+int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
+//
+void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
+void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
+//
+dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
+//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
+//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
+//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
+//
+//dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//
+dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
+//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
+//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
+//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//
+//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
+//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
+//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
+//
+dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
+//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
+//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
+//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
+//
+//dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
+//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
+//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
+//
+//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
+//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
+//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
+//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
+//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
+//
+dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
+void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
+//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
+void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
+//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
+//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
+//int (ODE_API *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);
+
+dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
+void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
+//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
+//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
+//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
+//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
+void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
+//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
+//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
+//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
+//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
+//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
+//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
+//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
+//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
+//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
+dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
+//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
+//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
+//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
+//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
+//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
+//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
+//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
+
+static dllfunction_t odefuncs[] =
+{
+// {"dGetConfiguration", (void **) &dGetConfiguration},
+ {"dCheckConfiguration", (void **) &dCheckConfiguration},
+ {"dInitODE", (void **) &dInitODE},
+// {"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
-POINT TESTING IN HULLS
+static void World_Physics_Init(void)
+{
+#ifdef USEODE
+#ifdef ODE_DYNAMIC
+ 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_world_erp);
+ Cvar_RegisterVariable(&physics_ode_world_cfm);
+ Cvar_RegisterVariable(&physics_ode_iterationsperframe);
+ Cvar_RegisterVariable(&physics_ode_movelimit);
+ Cvar_RegisterVariable(&physics_ode_spinlimit);
+
+#ifdef ODE_DYNAMIC
+ // Load the DLL
+ if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
+#endif
+ {
+ dInitODE();
+// dInitODE2(0);
+#ifdef ODE_DYNAMIC
+# 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
+}
-/*
-============
-SV_TestEntityPosition
+static void World_Physics_Shutdown(void)
+{
+#ifdef USEODE
+#ifdef ODE_DYNAMIC
+ if (ode_dll)
+#endif
+ {
+ dCloseODE();
+#ifdef ODE_DYNAMIC
+ Sys_UnloadLibrary(&ode_dll);
+ ode_dll = NULL;
+#endif
+ }
+#endif
+}
-This could be a lot more efficient...
-============
-*/
-int SV_TestEntityPosition (edict_t *ent)
+#ifdef USEODE
+static void World_Physics_EnableODE(world_t *world)
{
- return SV_Move (ent->v->origin, ent->v->mins, ent->v->maxs, ent->v->origin, MOVE_NORMAL, ent).startsolid;
+ dVector3 center, extents;
+ if (world->physics.ode)
+ return;
+#ifdef ODE_DYNAMIC
+ 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);
+ if(physics_ode_world_erp.value >= 0)
+ dWorldSetERP(world->physics.ode_world, physics_ode_world_erp.value);
+ if(physics_ode_world_cfm.value >= 0)
+ dWorldSetCFM(world->physics.ode_world, physics_ode_world_cfm.value);
}
+#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
+}
-LINE TESTING IN HULLS
+void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
+{
+ ed->priv.server->ode_joint_type = 0;
+#ifdef USEODE
+ if(ed->priv.server->ode_joint)
+ dJointDestroy((dJointID)ed->priv.server->ode_joint);
+ ed->priv.server->ode_joint = NULL;
+#endif
+}
-===============================================================================
-*/
+void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
+{
+ // entity is not physics controlled, free any physics data
+ ed->priv.server->ode_physics = false;
+#ifdef USEODE
+ 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)
+ {
+ dJointID j;
+ dBodyID b1, b2;
+ prvm_edict_t *ed2;
+ while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
+ {
+ j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
+ ed2 = (prvm_edict_t *) dJointGetData(j);
+ b1 = dJointGetBody(j, 0);
+ b2 = dJointGetBody(j, 1);
+ if(b1 == (dBodyID)ed->priv.server->ode_body)
+ {
+ b1 = 0;
+ ed2->priv.server->ode_joint_enemy = 0;
+ }
+ if(b2 == (dBodyID)ed->priv.server->ode_body)
+ {
+ b2 = 0;
+ ed2->priv.server->ode_joint_aiment = 0;
+ }
+ dJointAttach(j, b1, b2);
+ }
+ dBodyDestroy((dBodyID)ed->priv.server->ode_body);
+ }
+ ed->priv.server->ode_body = NULL;
+#endif
+ 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;
+ if(ed->priv.server->ode_massbuf)
+ Mem_Free(ed->priv.server->ode_massbuf);
+ ed->priv.server->ode_massbuf = NULL;
+}
-/*
-==================
-SV_ClipMoveToEntity
+#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 angles;
+ vec3_t avelocity;
+ vec3_t forward, left, up;
+ vec3_t origin;
+ vec3_t spinvelocity;
+ vec3_t velocity;
+ int jointtype;
+ if (!body)
+ return;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
+ movetype = (int)val->_float;
+ if (movetype != MOVETYPE_PHYSICS)
+ {
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
+ switch(jointtype)
+ {
+ // TODO feed back data from physics
+ case JOINTTYPE_POINT:
+ break;
+ case JOINTTYPE_HINGE:
+ break;
+ case JOINTTYPE_SLIDER:
+ break;
+ case JOINTTYPE_UNIVERSAL:
+ break;
+ case JOINTTYPE_HINGE2:
+ break;
+ case JOINTTYPE_FIXED:
+ break;
+ }
+ 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);
+
+ AnglesFromVectors(angles, forward, up, false);
+ VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));
-Handles selection or creation of a clipping hull, and offseting (and
-eventually rotation) of the end points
-==================
-*/
-trace_t SV_ClipMoveToEntity(edict_t *ent, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int movetype)
+ {
+ float pitchsign = 1;
+ if(!strcmp(prog->name, "server")) // FIXME some better way?
+ {
+ pitchsign = SV_GetPitchSign(ed);
+ }
+ else if(!strcmp(prog->name, "client"))
+ {
+ pitchsign = CL_GetPitchSign(ed);
+ }
+ angles[PITCH] *= pitchsign;
+ avelocity[PITCH] *= pitchsign;
+ }
+
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, 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.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(angles, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(avelocity, val->vector);
+
+ // values for BodyFromEntity to check if the qc modified anything later
+ VectorCopy(origin, ed->priv.server->ode_origin);
+ VectorCopy(velocity, ed->priv.server->ode_velocity);
+ VectorCopy(angles, ed->priv.server->ode_angles);
+ VectorCopy(avelocity, ed->priv.server->ode_avelocity);
+ ed->priv.server->ode_gravity = dBodyGetGravityMode(body);
+
+ if(!strcmp(prog->name, "server")) // FIXME some better way?
+ {
+ SV_LinkEdict(ed);
+ SV_LinkEdict_TouchAreaGrid(ed);
+ }
+}
+
+static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
{
- trace_t trace;
- model_t *model = NULL;
- matrix4x4_t matrix, imatrix;
- float tempnormal[3], starttransformed[3], endtransformed[3];
- float starttransformedmins[3], starttransformedmaxs[3], endtransformedmins[3], endtransformedmaxs[3];
+ dJointID j = 0;
+ dBodyID b1 = 0;
+ dBodyID b2 = 0;
+ int movetype = 0;
+ int jointtype = 0;
+ int enemy = 0, aiment = 0;
+ vec3_t origin, velocity, angles, forward, left, up, movedir;
+ vec_t CFM, ERP, FMax, Stop, Vel;
+ prvm_eval_t *val;
+ VectorClear(origin);
+ VectorClear(velocity);
+ VectorClear(angles);
+ VectorClear(movedir);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.enemy);if (val) enemy = val->_int;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.aiment);if (val) aiment = val->_int;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movedir);if (val) VectorCopy(val->vector, movedir);
+ if(movetype == MOVETYPE_PHYSICS)
+ jointtype = 0; // can't have both
+ if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
+ enemy = 0;
+ if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
+ aiment = 0;
+ // see http://www.ode.org/old_list_archives/2006-January/017614.html
+ // we want to set ERP? make it fps independent and work like a spring constant
+ // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
+ if(movedir[0] > 0 && movedir[1] > 0)
+ {
+ float K = movedir[0];
+ float D = movedir[1];
+ float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
+ CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0
+ ERP = world->physics.ode_step * K * CFM;
+ Vel = 0;
+ FMax = 0;
+ Stop = movedir[2];
+ }
+ else if(movedir[1] < 0)
+ {
+ CFM = 0;
+ ERP = 0;
+ Vel = movedir[0];
+ FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
+ Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
+ }
+ else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
+ {
+ CFM = 0;
+ ERP = 0;
+ Vel = 0;
+ FMax = 0;
+ Stop = dInfinity;
+ }
+ if(jointtype == ed->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment && VectorCompare(movedir, ed->priv.server->ode_joint_movedir))
+ return; // nothing to do
+ AngleVectorsFLU(angles, forward, left, up);
+ switch(jointtype)
+ {
+ case JOINTTYPE_POINT:
+ j = dJointCreateBall(world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_HINGE:
+ j = dJointCreateHinge(world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_SLIDER:
+ j = dJointCreateSlider(world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_UNIVERSAL:
+ j = dJointCreateUniversal(world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_HINGE2:
+ j = dJointCreateHinge2(world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_FIXED:
+ j = dJointCreateFixed(world->physics.ode_world, 0);
+ break;
+ case 0:
+ default:
+ // no joint
+ j = 0;
+ break;
+ }
+ if(ed->priv.server->ode_joint)
+ {
+ //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
+ dJointAttach(ed->priv.server->ode_joint, 0, 0);
+ dJointDestroy(ed->priv.server->ode_joint);
+ }
+ ed->priv.server->ode_joint = (void *) j;
+ ed->priv.server->ode_joint_type = jointtype;
+ ed->priv.server->ode_joint_enemy = enemy;
+ ed->priv.server->ode_joint_aiment = aiment;
+ VectorCopy(origin, ed->priv.server->ode_joint_origin);
+ VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
+ VectorCopy(angles, ed->priv.server->ode_joint_angles);
+ VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
+ if(j)
+ {
+ //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
+ dJointSetData(j, (void *) ed);
+ if(enemy)
+ b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
+ if(aiment)
+ b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
+ dJointAttach(j, b1, b2);
+
+ switch(jointtype)
+ {
+ case JOINTTYPE_POINT:
+ dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
+ break;
+ case JOINTTYPE_HINGE:
+ dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
+ dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
+ dJointSetHingeParam(j, dParamFMax, FMax);
+ dJointSetHingeParam(j, dParamHiStop, Stop);
+ dJointSetHingeParam(j, dParamLoStop, -Stop);
+ dJointSetHingeParam(j, dParamStopCFM, CFM);
+ dJointSetHingeParam(j, dParamStopERP, ERP);
+ dJointSetHingeParam(j, dParamVel, Vel);
+ break;
+ case JOINTTYPE_SLIDER:
+ dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
+ dJointSetSliderParam(j, dParamFMax, FMax);
+ dJointSetSliderParam(j, dParamHiStop, Stop);
+ dJointSetSliderParam(j, dParamLoStop, -Stop);
+ dJointSetSliderParam(j, dParamStopCFM, CFM);
+ dJointSetSliderParam(j, dParamStopERP, ERP);
+ dJointSetSliderParam(j, dParamVel, Vel);
+ break;
+ case JOINTTYPE_UNIVERSAL:
+ dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
+ dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
+ dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
+ dJointSetUniversalParam(j, dParamFMax, FMax);
+ dJointSetUniversalParam(j, dParamHiStop, Stop);
+ dJointSetUniversalParam(j, dParamLoStop, -Stop);
+ dJointSetUniversalParam(j, dParamStopCFM, CFM);
+ dJointSetUniversalParam(j, dParamStopERP, ERP);
+ dJointSetUniversalParam(j, dParamVel, Vel);
+ dJointSetUniversalParam(j, dParamFMax2, FMax);
+ dJointSetUniversalParam(j, dParamHiStop2, Stop);
+ dJointSetUniversalParam(j, dParamLoStop2, -Stop);
+ dJointSetUniversalParam(j, dParamStopCFM2, CFM);
+ dJointSetUniversalParam(j, dParamStopERP2, ERP);
+ dJointSetUniversalParam(j, dParamVel2, Vel);
+ break;
+ case JOINTTYPE_HINGE2:
+ dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
+ dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
+ dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
+ dJointSetHinge2Param(j, dParamFMax, FMax);
+ dJointSetHinge2Param(j, dParamHiStop, Stop);
+ dJointSetHinge2Param(j, dParamLoStop, -Stop);
+ dJointSetHinge2Param(j, dParamStopCFM, CFM);
+ dJointSetHinge2Param(j, dParamStopERP, ERP);
+ dJointSetHinge2Param(j, dParamVel, Vel);
+ dJointSetHinge2Param(j, dParamFMax2, FMax);
+ dJointSetHinge2Param(j, dParamHiStop2, Stop);
+ dJointSetHinge2Param(j, dParamLoStop2, -Stop);
+ dJointSetHinge2Param(j, dParamStopCFM2, CFM);
+ dJointSetHinge2Param(j, dParamStopERP2, ERP);
+ dJointSetHinge2Param(j, dParamVel2, Vel);
+ break;
+ case JOINTTYPE_FIXED:
+ break;
+ case 0:
+ default:
+ Sys_Error("what? but above the joint was valid...\n");
+ break;
+ }
+#undef SETPARAMS
- memset(&trace, 0, sizeof(trace));
- trace.fraction = trace.realfraction = 1;
- VectorCopy(end, trace.endpos);
+ }
+}
- if ((int) ent->v->solid == SOLID_BSP || movetype == MOVE_HITMODEL)
+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 = MOVETYPE_NONE;
+ int numtriangles;
+ int numvertices;
+ int solid = SOLID_NOT;
+ int triangleindex;
+ int vertexindex;
+ mempool_t *mempool;
+ prvm_eval_t *val;
+ qboolean modified = false;
+ 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 scale = 1.0f;
+ vec_t spinlimit;
+ qboolean gravity;
+#ifdef ODE_DYNAMIC
+ if (!ode_dll)
+ return;
+#endif
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);if (val) solid = (int)val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.scale);if (val && val->_float) scale = val->_float;
+ modelindex = 0;
+ if (world == &sv.world)
+ mempool = sv_mempool;
+ else if (world == &cl.world)
+ mempool = cls.levelmempool;
+ else
+ mempool = NULL;
+ switch(solid)
{
- unsigned int modelindex = ent->v->modelindex;
- // if the modelindex is 0, it shouldn't be SOLID_BSP!
- if (modelindex == 0)
+ case SOLID_BSP:
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex);
+ if (val)
+ modelindex = (int)val->_float;
+ if (world == &sv.world)
+ model = SV_GetModelByIndex(modelindex);
+ else if (world == &cl.world)
+ model = CL_GetModelByIndex(modelindex);
+ else
+ model = NULL;
+ if (model)
{
- Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP with no model\n", NUM_FOR_EDICT(ent));
- return trace;
+ VectorScale(model->normalmins, scale, entmins);
+ VectorScale(model->normalmaxs, scale, entmaxs);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
}
- if (modelindex >= MAX_MODELS)
+ else
{
- Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP with invalid modelindex\n", NUM_FOR_EDICT(ent));
- return trace;
+ modelindex = 0;
+ massval = 1.0f;
}
- model = sv.models[modelindex];
- if (modelindex != 0 && model == NULL)
+ 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)
+ {
+ modified = true;
+ 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)
{
- Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP with invalid modelindex\n", NUM_FOR_EDICT(ent));
- return trace;
+ 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);
}
- Mod_CheckLoaded(model);
- if ((int) ent->v->solid == SOLID_BSP)
+ switch(solid)
{
- if (!model->TraceBox)
+ case SOLID_BSP:
+ ed->priv.server->ode_offsetmatrix = identitymatrix;
+ if (!model)
{
- Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP with a non-collidable model\n", NUM_FOR_EDICT(ent));
- return trace;
+ 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;
}
- //if (ent->v->movetype != MOVETYPE_PUSH)
- //{
- // Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP without MOVETYPE_PUSH\n", NUM_FOR_EDICT(ent));
- // return trace;
- //}
+ // 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_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
+ dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ 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_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
+ dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ break;
+ case SOLID_PHYSICS_SPHERE:
+ Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+ ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f);
+ dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
+ 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_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
+ break;
+ default:
+ Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
}
- Matrix4x4_CreateFromQuakeEntity(&matrix, ent->v->origin[0], ent->v->origin[1], ent->v->origin[2], ent->v->angles[0], ent->v->angles[1], ent->v->angles[2], 1);
+ Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
+ ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass));
+ memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass));
}
- else
- Matrix4x4_CreateTranslate(&matrix, ent->v->origin[0], ent->v->origin[1], ent->v->origin[2]);
-
- Matrix4x4_Invert_Simple(&imatrix, &matrix);
- Matrix4x4_Transform(&imatrix, start, starttransformed);
- Matrix4x4_Transform(&imatrix, end, endtransformed);
-#if COLLISIONPARANOID >= 3
- Con_Printf("trans(%f %f %f -> %f %f %f, %f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2], end[0], end[1], end[2], endtransformed[0], endtransformed[1], endtransformed[2]);
-#endif
- if (model && model->TraceBox)
+ if(ed->priv.server->ode_geom)
+ dGeomSetData(ed->priv.server->ode_geom, (void*)ed);
+ if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
{
- int frame;
- frame = (int)ent->v->frame;
- frame = bound(0, frame, (model->numframes - 1));
- VectorAdd(starttransformed, maxs, starttransformedmaxs);
- VectorAdd(endtransformed, maxs, endtransformedmaxs);
- VectorAdd(starttransformed, mins, starttransformedmins);
- VectorAdd(endtransformed, mins, endtransformedmins);
- model->TraceBox(model, frame, &trace, starttransformedmins, starttransformedmaxs, endtransformedmins, endtransformedmaxs, SUPERCONTENTS_SOLID);
+ if (ed->priv.server->ode_body == NULL)
+ {
+ ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+ dGeomSetBody(ed->priv.server->ode_geom, body);
+ dBodySetData(body, (void*)ed);
+ dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
+ modified = true;
+ }
}
else
- Collision_ClipTrace_Box(&trace, ent->v->mins, ent->v->maxs, starttransformed, mins, maxs, endtransformed, SUPERCONTENTS_SOLID, SUPERCONTENTS_SOLID);
- trace.fraction = bound(0, trace.fraction, 1);
- trace.realfraction = bound(0, trace.realfraction, 1);
-
- if (trace.fraction < 1)
{
- VectorLerp(start, trace.fraction, end, trace.endpos);
- VectorCopy(trace.plane.normal, tempnormal);
- Matrix4x4_Transform3x3(&matrix, tempnormal, trace.plane.normal);
- // FIXME: should recalc trace.plane.dist
+ if (ed->priv.server->ode_body != NULL)
+ {
+ if(ed->priv.server->ode_geom)
+ dGeomSetBody(ed->priv.server->ode_geom, 0);
+ dBodyDestroy((dBodyID) ed->priv.server->ode_body);
+ ed->priv.server->ode_body = NULL;
+ modified = true;
+ }
}
- else
- VectorCopy(end, trace.endpos);
- return trace;
-}
+ // get current data from entity
+ VectorClear(origin);
+ VectorClear(velocity);
+ //VectorClear(forward);
+ //VectorClear(left);
+ //VectorClear(up);
+ //VectorClear(spinvelocity);
+ VectorClear(angles);
+ VectorClear(avelocity);
+ gravity = true;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
+ //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.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(val->vector, avelocity);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.gravity);if (val) { if(val->_float != 0.0f && val->_float < 0.5f) gravity = false; }
+ if(ed == prog->edicts)
+ gravity = false;
+
+ // compatibility for legacy entities
+ //if (!VectorLength2(forward) || solid == SOLID_BSP)
+ {
+ float pitchsign = 1;
+ vec3_t qangles, qavelocity;
+ VectorCopy(angles, qangles);
+ VectorCopy(avelocity, qavelocity);
-//===========================================================================
+ if(!strcmp(prog->name, "server")) // FIXME some better way?
+ {
+ pitchsign = SV_GetPitchSign(ed);
+ }
+ else if(!strcmp(prog->name, "client"))
+ {
+ pitchsign = CL_GetPitchSign(ed);
+ }
+ qangles[PITCH] *= pitchsign;
+ qavelocity[PITCH] *= pitchsign;
-/*
-==================
-SV_Move
-==================
-*/
-#if COLLISIONPARANOID >= 1
-trace_t SV_Move_(const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int type, edict_t *passedict)
-#else
-trace_t SV_Move(const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int type, edict_t *passedict)
-#endif
-{
- vec3_t hullmins, hullmaxs;
- int i;
- int passedictprog;
- qboolean pointtrace;
- edict_t *traceowner, *touch;
- trace_t trace;
- // bounding box of entire move area
- vec3_t clipboxmins, clipboxmaxs;
- // size of the moving object
- vec3_t clipmins, clipmaxs;
- // size when clipping against monsters
- vec3_t clipmins2, clipmaxs2;
- // start and end origin of move
- vec3_t clipstart, clipend;
- // trace results
- trace_t cliptrace;
- int numtouchedicts;
- edict_t *touchedicts[MAX_EDICTS];
-
- VectorCopy(start, clipstart);
- VectorCopy(end, clipend);
- VectorCopy(mins, clipmins);
- VectorCopy(maxs, clipmaxs);
- VectorCopy(mins, clipmins2);
- VectorCopy(maxs, clipmaxs2);
-#if COLLISIONPARANOID >= 3
- Con_Printf("move(%f %f %f,%f %f %f)", clipstart[0], clipstart[1], clipstart[2], clipend[0], clipend[1], clipend[2]);
-#endif
+ AngleVectorsFLU(qangles, forward, left, up);
+ // convert single-axis rotations in avelocity to spinvelocity
+ // FIXME: untested math - check signs
+ VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
+ }
- // clip to world
- cliptrace = SV_ClipMoveToEntity(sv.edicts, clipstart, clipmins, clipmaxs, clipend, type);
- if (cliptrace.startsolid || cliptrace.fraction < 1)
- cliptrace.ent = sv.edicts;
- if (type == MOVE_WORLDONLY)
- return cliptrace;
+ // compatibility for legacy entities
+ switch (solid)
+ {
+ case SOLID_BBOX:
+ case SOLID_SLIDEBOX:
+ case SOLID_CORPSE:
+ VectorSet(forward, 1, 0, 0);
+ VectorSet(left, 0, 1, 0);
+ VectorSet(up, 0, 0, 1);
+ VectorSet(spinvelocity, 0, 0, 0);
+ break;
+ }
- if (type == MOVE_MISSILE)
+
+ // we must prevent NANs...
+ test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
+ if (IS_NAN(test))
{
- // LordHavoc: modified this, was = -15, now -= 15
- for (i = 0;i < 3;i++)
+ modified = true;
+ //Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %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], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+ Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]);
+ test = VectorLength2(origin);
+ if (IS_NAN(test))
+ VectorClear(origin);
+ test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
+ if (IS_NAN(test))
{
- clipmins2[i] -= 15;
- clipmaxs2[i] += 15;
+ VectorSet(angles, 0, 0, 0);
+ 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(avelocity);
+ VectorClear(spinvelocity);
}
}
- // get adjusted box for bmodel collisions if the world is q1bsp or hlbsp
- if (sv.worldmodel && sv.worldmodel->brush.RoundUpToHullSize)
- sv.worldmodel->brush.RoundUpToHullSize(sv.worldmodel, clipmins, clipmaxs, hullmins, hullmaxs);
- else
+ // check if the qc edited any position data
+ if (!VectorCompare(origin, ed->priv.server->ode_origin)
+ || !VectorCompare(velocity, ed->priv.server->ode_velocity)
+ || !VectorCompare(angles, ed->priv.server->ode_angles)
+ || !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
+ || gravity != ed->priv.server->ode_gravity)
+ modified = true;
+
+ // store the qc values into the physics engine
+ body = ed->priv.server->ode_body;
+ if (modified && ed->priv.server->ode_geom)
{
- VectorCopy(clipmins, hullmins);
- VectorCopy(clipmaxs, hullmaxs);
+ dVector3 r[3];
+ matrix4x4_t entitymatrix;
+ matrix4x4_t bodymatrix;
+
+#if 0
+ Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
+ if(!VectorCompare(origin, ed->priv.server->ode_origin))
+ Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->priv.server->ode_origin[0], ed->priv.server->ode_origin[1], ed->priv.server->ode_origin[2], origin[0], origin[1], origin[2]);
+ if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
+ Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_velocity[0], ed->priv.server->ode_velocity[1], ed->priv.server->ode_velocity[2], velocity[0], velocity[1], velocity[2]);
+ if(!VectorCompare(angles, ed->priv.server->ode_angles))
+ Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->priv.server->ode_angles[0], ed->priv.server->ode_angles[1], ed->priv.server->ode_angles[2], angles[0], angles[1], angles[2]);
+ if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
+ Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_avelocity[0], ed->priv.server->ode_avelocity[1], ed->priv.server->ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]);
+ if(gravity != ed->priv.server->ode_gravity)
+ Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
+#endif
+
+ // values for BodyFromEntity to check if the qc modified anything later
+ VectorCopy(origin, ed->priv.server->ode_origin);
+ VectorCopy(velocity, ed->priv.server->ode_velocity);
+ VectorCopy(angles, ed->priv.server->ode_angles);
+ VectorCopy(avelocity, ed->priv.server->ode_avelocity);
+ ed->priv.server->ode_gravity = gravity;
+
+ 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];
+ if(body)
+ {
+ if(movetype == MOVETYPE_PHYSICS)
+ {
+ dGeomSetBody(ed->priv.server->ode_geom, 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]);
+ dBodySetGravityMode(body, gravity);
+ }
+ else
+ {
+ dGeomSetBody(ed->priv.server->ode_geom, 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]);
+ dBodySetGravityMode(body, gravity);
+ dGeomSetBody(ed->priv.server->ode_geom, 0);
+ }
+ }
+ else
+ {
+ // no body... then let's adjust the parameters of the geom directly
+ dGeomSetBody(ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
+ dGeomSetPosition(ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
+ dGeomSetRotation(ed->priv.server->ode_geom, r[0]);
+ }
}
- // create the bounding box of the entire move
- for (i = 0;i < 3;i++)
+ if(body)
{
- clipboxmins[i] = min(clipstart[i], cliptrace.endpos[i]) + min(hullmins[i], clipmins2[i]) - 1;
- clipboxmaxs[i] = max(clipstart[i], cliptrace.endpos[i]) + max(hullmaxs[i], clipmaxs2[i]) + 1;
+ // limit movement speed to prevent missed collisions at high speed
+ const dReal *ovelocity = dBodyGetLinearVel(body);
+ const dReal *ospinvelocity = dBodyGetAngularVel(body);
+ movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
+ test = VectorLength2(ovelocity);
+ 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(ovelocity, f, velocity);
+ VectorScale(ospinvelocity, f, spinvelocity);
+ dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
+ dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+ }
+
+ // make sure the angular velocity is not exploding
+ spinlimit = physics_ode_spinlimit.value;
+ test = VectorLength2(ospinvelocity);
+ if (test > spinlimit)
+ {
+ dBodySetAngularVel(body, 0, 0, 0);
+ }
}
+}
- // debug override to test against everything
- if (sv_debugmove.integer)
+#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;
+ prvm_eval_t *val;
+ float bouncefactor1 = 0.0f;
+ float bouncestop1 = 60.0f / 800.0f;
+ float bouncefactor2 = 0.0f;
+ float bouncestop2 = 60.0f / 800.0f;
+ dVector3 grav;
+ prvm_edict_t *ed1, *ed2;
+
+ if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
{
- clipboxmins[0] = clipboxmins[1] = clipboxmins[2] = -999999999;
- clipboxmaxs[0] = clipboxmaxs[1] = clipboxmaxs[2] = 999999999;
+ // 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;
}
- // if the passedict is world, make it NULL (to avoid two checks each time)
- if (passedict == sv.edicts)
- passedict = NULL;
- // precalculate prog value for passedict for comparisons
- passedictprog = EDICT_TO_PROG(passedict);
- // figure out whether this is a point trace for comparisons
- pointtrace = VectorCompare(clipmins, clipmaxs);
- // precalculate passedict's owner edict pointer for comparisons
- traceowner = passedict ? PROG_TO_EDICT(passedict->v->owner) : 0;
+ 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;
- // clip to enttiies
- numtouchedicts = SV_EntitiesInBox(clipboxmins, clipboxmaxs, MAX_EDICTS, touchedicts);
- if (numtouchedicts > MAX_EDICTS)
+ ed1 = (prvm_edict_t *) dGeomGetData(o1);
+ if(ed1 && ed1->priv.server->free)
+ ed1 = NULL;
+ if(ed1)
{
- // this never happens
- Con_Printf("SV_EntitiesInBox returned %i edicts, max was %i\n", numtouchedicts, MAX_EDICTS);
- numtouchedicts = MAX_EDICTS;
+ val = PRVM_EDICTFIELDVALUE(ed1, prog->fieldoffsets.bouncefactor);
+ if (val!=0 && val->_float)
+ bouncefactor1 = val->_float;
+
+ val = PRVM_EDICTFIELDVALUE(ed1, prog->fieldoffsets.bouncestop);
+ if (val!=0 && val->_float)
+ bouncestop1 = val->_float;
}
- for (i = 0;i < numtouchedicts;i++)
+
+ ed2 = (prvm_edict_t *) dGeomGetData(o2);
+ if(ed2 && ed2->priv.server->free)
+ ed2 = NULL;
+ if(ed2)
{
- touch = touchedicts[i];
+ val = PRVM_EDICTFIELDVALUE(ed2, prog->fieldoffsets.bouncefactor);
+ if (val!=0 && val->_float)
+ bouncefactor2 = val->_float;
- if (touch->v->solid < SOLID_BBOX)
- continue;
- if (type == MOVE_NOMONSTERS && touch->v->solid != SOLID_BSP)
- continue;
+ val = PRVM_EDICTFIELDVALUE(ed2, prog->fieldoffsets.bouncestop);
+ if (val!=0 && val->_float)
+ bouncestop2 = val->_float;
+ }
- if (passedict)
+ if(!strcmp(prog->name, "server"))
+ {
+ if(ed1 && ed1->fields.server->touch)
{
- // don't clip against self
- if (passedict == touch)
- continue;
- // don't clip owned entities against owner
- if (traceowner == touch)
- continue;
- // don't clip owner against owned entities
- if (passedictprog == touch->v->owner)
- continue;
- // don't clip points against points (they can't collide)
- if (pointtrace && VectorCompare(touch->v->mins, touch->v->maxs) && (type != MOVE_MISSILE || !((int)touch->v->flags & FL_MONSTER)))
- continue;
- // don't clip corpse against character
- if (passedict->v->solid == SOLID_CORPSE && (touch->v->solid == SOLID_SLIDEBOX || touch->v->solid == SOLID_CORPSE))
- continue;
- // don't clip character against corpse
- if (passedict->v->solid == SOLID_SLIDEBOX && touch->v->solid == SOLID_CORPSE)
- continue;
+ SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
}
+ if(ed2 && ed2->fields.server->touch)
+ {
+ SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
+ }
+ }
- // might interact, so do an exact clip
- if ((int)touch->v->flags & FL_MONSTER)
- trace = SV_ClipMoveToEntity(touch, clipstart, clipmins2, clipmaxs2, clipend, type);
- else
- trace = SV_ClipMoveToEntity(touch, clipstart, clipmins, clipmaxs, clipend, type);
- // LordHavoc: take the 'best' answers from the new trace and combine with existing data
- if (trace.allsolid)
- cliptrace.allsolid = true;
- if (trace.startsolid)
+ // merge bounce factors and bounce stop
+ if(bouncefactor2 > 0)
+ {
+ if(bouncefactor1 > 0)
{
- cliptrace.startsolid = true;
- if (cliptrace.realfraction == 1)
- cliptrace.ent = touch;
+ // TODO possibly better logic to merge bounce factor data?
+ if(bouncestop2 < bouncestop1)
+ bouncestop1 = bouncestop2;
+ if(bouncefactor2 > bouncefactor1)
+ bouncefactor1 = bouncefactor2;
}
- // don't set this except on the world, because it can easily confuse
- // monsters underwater if there's a bmodel involved in the trace
- // (inopen && inwater is how they check water visibility)
- //if (trace.inopen)
- // cliptrace.inopen = true;
- if (trace.inwater)
- cliptrace.inwater = true;
- if (trace.realfraction < cliptrace.realfraction)
+ else
{
- cliptrace.fraction = trace.fraction;
- cliptrace.realfraction = trace.realfraction;
- VectorCopy(trace.endpos, cliptrace.endpos);
- cliptrace.plane = trace.plane;
- cliptrace.ent = touch;
+ bouncestop1 = bouncestop2;
+ bouncefactor1 = bouncefactor2;
}
- cliptrace.startsupercontents |= trace.startsupercontents;
}
+ dWorldGetGravity(world->physics.ode_world, grav);
+ bouncestop1 *= fabs(grav[2]);
- return cliptrace;
-}
-
-#if COLLISIONPARANOID >= 1
-trace_t SV_Move(const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int type, edict_t *passedict)
-{
- int endstuck;
- trace_t trace;
- vec3_t temp;
- trace = SV_Move_(start, mins, maxs, end, type, passedict);
- if (passedict)
+ // 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++)
{
- VectorCopy(trace.endpos, temp);
- endstuck = SV_Move_(temp, mins, maxs, temp, type, passedict).startsolid;
-#if COLLISIONPARANOID < 3
- if (trace.startsolid || endstuck)
-#endif
- Con_Printf("%s{e%i:%f %f %f:%f %f %f:%f:%f %f %f%s%s}\n", (trace.startsolid || endstuck) ? "\002" : "", passedict ? passedict - sv.edicts : -1, passedict->v->origin[0], passedict->v->origin[1], passedict->v->origin[2], end[0] - passedict->v->origin[0], end[1] - passedict->v->origin[1], end[2] - passedict->v->origin[2], trace.fraction, trace.endpos[0] - passedict->v->origin[0], trace.endpos[1] - passedict->v->origin[1], trace.endpos[2] - passedict->v->origin[2], trace.startsolid ? " startstuck" : "", endstuck ? " endstuck" : "");
+ 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) | (bouncefactor1 > 0 ? dContactBounce : 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;
+ contact[i].surface.bounce = bouncefactor1;
+ contact[i].surface.bounce_vel = bouncestop1;
+ c = dJointCreateContact(world->physics.ode_world, world->physics.ode_contactgroup, contact + i);
+ dJointAttach(c, b1, b2);
}
- return trace;
}
#endif
-int SV_PointSuperContents(const vec3_t point)
+void World_Physics_Frame(world_t *world, double frametime, double gravity)
{
- return SV_Move(point, vec3_origin, vec3_origin, point, sv_gameplayfix_swiminbmodels.integer ? MOVE_NOMONSTERS : MOVE_WORLDONLY, NULL).startsupercontents;
-}
+#ifdef USEODE
+ if (world->physics.ode)
+ {
+ int i;
+ prvm_edict_t *ed;
-int SV_PointQ1Contents(const vec3_t point)
-{
- return Mod_Q1BSP_NativeContentsFromSuperContents(NULL, SV_PointSuperContents(point));
-}
+ 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;
+
+ // 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);
+ // oh, and it must be called after all bodies were created
+ for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
+ if (!prog->edicts[i].priv.required->free)
+ World_Physics_Frame_JointFromEntity(world, ed);
+ }
+
+ 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)
+ World_Physics_Frame_BodyToEntity(world, ed);
+ }
+#endif
+}
projects / xonotic / darkplaces.git / blobdiff