vec3_t paddedmins, paddedmaxs;
int igrid[3], igridmins[3], igridmaxs[3];
- VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f);
- VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f);
+ // LordHavoc: discovered this actually causes its own bugs (dm6 teleporters being too close to info_teleport_destination)
+ //VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f);
+ //VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f);
+ VectorCopy(requestmins, paddedmins);
+ VectorCopy(requestmaxs, paddedmaxs);
// FIXME: if areagrid_marknumber wraps, all entities need their
// ent->priv.server->areagridmarknumber reset
// physics engine support
//============================================================================
-#ifndef ODE_STATIC
-# define ODE_DYNAMIC 1
-#endif
-
-#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_allowconvex = {0, "physics_ode_allowconvex", "0", "allow usage of Convex Hull primitive type on trimeshes that have custom 'collisionconvex' mesh. If disabled, trimesh primitive type are used."};
cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"};
cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep"};
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_contact_maxpoints = {0, "physics_ode_contact_maxpoints", "16", "maximal number of contact points between 2 objects, higher = stable (and slower), can be up to 32"};
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_world_damping = {0, "physics_ode_world_damping", "1", "enabled damping scale (see ODE User Guide), this scales all damping values, be aware that behavior depends of step type"};
-cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear", "0.005", "world linear damping scale (see ODE User Guide); use defaults when set to -1"};
-cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.01", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"};
-cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.005", "world angular damping scale (see ODE User Guide); use defaults when set to -1"};
-cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.01", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear", "0.01", "world linear damping scale (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.1", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.05", "world angular damping scale (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.1", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"};
cvar_t physics_ode_world_gravitymod = {0, "physics_ode_world_gravitymod", "1", "multiplies gravity got from sv_gravity, this may be needed to tweak if strong damping is used"};
cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"};
cvar_t physics_ode_constantstep = {0, "physics_ode_constantstep", "0", "use constant step instead of variable step which tends to increase stability, if set to 1 uses sys_ticrate, instead uses it's own value"};
cvar_t physics_ode_autodisable = {0, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"};
cvar_t physics_ode_autodisable_steps = {0, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"};
cvar_t physics_ode_autodisable_time = {0, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"};
-cvar_t physics_ode_autodisable_threshold_linear = {0, "physics_ode_autodisable_threshold_linear", "0.2", "body will be disabled if it's linear move below this value"};
-cvar_t physics_ode_autodisable_threshold_angular = {0, "physics_ode_autodisable_threshold_angular", "0.3", "body will be disabled if it's angular move below this value"};
+cvar_t physics_ode_autodisable_threshold_linear = {0, "physics_ode_autodisable_threshold_linear", "0.6", "body will be disabled if it's linear move below this value"};
+cvar_t physics_ode_autodisable_threshold_angular = {0, "physics_ode_autodisable_threshold_angular", "6", "body will be disabled if it's angular move below this value"};
cvar_t physics_ode_autodisable_threshold_samples = {0, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"};
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, be aware that behavior depends of step type"};
cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
cvar_t physics_ode_trick_fixnan = {0, "physics_ode_trick_fixnan", "1", "engine trick that checks and fixes NaN velocity/origin/angles on objects, a value of 2 makes console prints on each fix"};
cvar_t physics_ode_printstats = {0, "physics_ode_printstats", "0", "print ODE stats each frame"};
+
cvar_t physics_ode = {0, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"};
// LordHavoc: this large chunk of definitions comes from the ODE library
// include files.
-#ifdef ODE_STATIC
+#ifdef LINK_TO_LIBODE
#include "ode/ode.h"
#else
#ifdef WINAPI
#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
-//const char* (ODE_API *dGetConfiguration)(void);
+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);
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 *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 *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);
//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);
+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);
static dllfunction_t odefuncs[] =
{
-// {"dGetConfiguration", (void **) &dGetConfiguration},
+ {"dGetConfiguration", (void **) &dGetConfiguration},
{"dCheckConfiguration", (void **) &dCheckConfiguration},
{"dInitODE", (void **) &dInitODE},
// {"dInitODE2", (void **) &dInitODE2},
{"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
{"dBodySetMass", (void **) &dBodySetMass},
// {"dBodyGetMass", (void **) &dBodyGetMass},
-// {"dBodyAddForce", (void **) &dBodyAddForce},
-// {"dBodyAddTorque", (void **) &dBodyAddTorque},
+ {"dBodyAddForce", (void **) &dBodyAddForce},
+ {"dBodyAddTorque", (void **) &dBodyAddTorque},
// {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
- {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
-// {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
- {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
+// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
+ {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
+// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
// {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
// {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
// {"dBodyGetForce", (void **) &dBodyGetForce},
// {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
// {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
// {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
-// {"dCreateConvex", (void **) &dCreateConvex},
+ {"dCreateConvex", (void **) &dCreateConvex},
// {"dGeomSetConvex", (void **) &dGeomSetConvex},
{"dCreateBox", (void **) &dCreateBox},
// {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
static void World_Physics_Init(void)
{
#ifdef USEODE
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
const char* dllnames [] =
{
# if defined(WIN32)
+ "libode3.dll",
+ "libode2.dll",
"libode1.dll",
# elif defined(MACOSX)
+ "libode.3.dylib",
+ "libode.2.dylib",
"libode.1.dylib",
# else
+ "libode.so.3",
+ "libode.so.2",
"libode.so.1",
# endif
NULL
Cvar_RegisterVariable(&physics_ode_contact_mu);
Cvar_RegisterVariable(&physics_ode_contact_erp);
Cvar_RegisterVariable(&physics_ode_contact_cfm);
+ Cvar_RegisterVariable(&physics_ode_contact_maxpoints);
Cvar_RegisterVariable(&physics_ode_world_erp);
Cvar_RegisterVariable(&physics_ode_world_cfm);
Cvar_RegisterVariable(&physics_ode_world_damping);
Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular);
Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples);
Cvar_RegisterVariable(&physics_ode_printstats);
+ Cvar_RegisterVariable(&physics_ode_allowconvex);
Cvar_RegisterVariable(&physics_ode);
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
// Load the DLL
if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
#endif
{
dInitODE();
// dInitODE2(0);
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
# ifdef dSINGLE
if (!dCheckConfiguration("ODE_single_precision"))
# else
# else
Con_Printf("ODE library loaded with double precision.\n");
# endif
+ Con_Printf("ODE configuration list: %s\n", dGetConfiguration());
}
#endif
}
static void World_Physics_Shutdown(void)
{
#ifdef USEODE
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
if (ode_dll)
#endif
{
dCloseODE();
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
Sys_UnloadLibrary(&ode_dll);
ode_dll = NULL;
#endif
dVector3 center, extents;
if (world->physics.ode)
return;
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
if (!ode_dll)
return;
#endif
void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f)
{
+#ifdef USEODE
dBodyID body = (dBodyID)ed->priv.server->ode_body;
-#ifdef USEODE
switch(f->type)
{
case ODEFUNC_ENABLE:
case ODEFUNC_DISABLE:
dBodyDisable(body);
break;
- case ODEFUNC_RELFORCEATPOS:
+ case ODEFUNC_FORCE:
dBodyEnable(body);
- dBodyAddForceAtRelPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
+ dBodyAddForceAtPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
break;
- case ODEFUNC_RELTORQUE:
+ case ODEFUNC_TORQUE:
dBodyEnable(body);
- dBodyAddRelTorque(body, f->v1[0], f->v1[1], f->v1[2]);
+ dBodyAddTorque(body, f->v1[0], f->v1[1], f->v1[2]);
break;
default:
break;
}
}
+static void World_Physics_Frame_ForceFromEntity(world_t *world, prvm_edict_t *ed)
+{
+ prvm_prog_t *prog = world->prog;
+ int forcetype = 0, movetype = 0, enemy = 0;
+ vec3_t movedir, origin;
+
+ movetype = (int)PRVM_gameedictfloat(ed, movetype);
+ forcetype = (int)PRVM_gameedictfloat(ed, forcetype);
+ if (movetype == MOVETYPE_PHYSICS)
+ forcetype = FORCETYPE_NONE; // can't have both
+ if (!forcetype)
+ return;
+ enemy = PRVM_gameedictedict(ed, enemy);
+ if (enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
+ return;
+ VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
+ VectorCopy(PRVM_gameedictvector(ed, origin), origin);
+ dBodyEnable((dBodyID)prog->edicts[enemy].priv.server->ode_body);
+ switch(forcetype)
+ {
+ case FORCETYPE_FORCE:
+ if (movedir[0] || movedir[1] || movedir[2])
+ dBodyAddForce((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
+ break;
+ case FORCETYPE_FORCEATPOS:
+ if (movedir[0] || movedir[1] || movedir[2])
+ dBodyAddForceAtPos((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2], origin[0], origin[1], origin[2]);
+ break;
+ case FORCETYPE_TORQUE:
+ if (movedir[0] || movedir[1] || movedir[2])
+ dBodyAddTorque((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
+ break;
+ case FORCETYPE_NONE:
+ default:
+ // bad force
+ break;
+ }
+}
+
static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
{
prvm_prog_t *prog = world->prog;
int enemy = 0, aiment = 0;
vec3_t origin, velocity, angles, forward, left, up, movedir;
vec_t CFM, ERP, FMax, Stop, Vel;
+
+ movetype = (int)PRVM_gameedictfloat(ed, movetype);
+ jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
VectorClear(origin);
VectorClear(velocity);
VectorClear(angles);
VectorClear(movedir);
- movetype = (int)PRVM_gameedictfloat(ed, movetype);
- jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
enemy = PRVM_gameedictedict(ed, enemy);
aiment = PRVM_gameedictedict(ed, aiment);
VectorCopy(PRVM_gameedictvector(ed, origin), origin);
VectorCopy(PRVM_gameedictvector(ed, angles), angles);
VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
if(movetype == MOVETYPE_PHYSICS)
- jointtype = 0; // can't have both
+ jointtype = JOINTTYPE_NONE; // 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)
case JOINTTYPE_FIXED:
j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
break;
- case 0:
+ case JOINTTYPE_NONE:
default:
// no joint
j = 0;
}
}
+// test convex geometry data
+// planes for a cube, these should coincide with the
+dReal test_convex_planes[] =
+{
+ 1.0f ,0.0f ,0.0f ,2.25f,
+ 0.0f ,1.0f ,0.0f ,2.25f,
+ 0.0f ,0.0f ,1.0f ,2.25f,
+ -1.0f,0.0f ,0.0f ,2.25f,
+ 0.0f ,-1.0f,0.0f ,2.25f,
+ 0.0f ,0.0f ,-1.0f,2.25f
+};
+const unsigned int test_convex_planecount = 6;
+// points for a cube
+dReal test_convex_points[] =
+{
+ 2.25f,2.25f,2.25f, // point 0
+ -2.25f,2.25f,2.25f, // point 1
+ 2.25f,-2.25f,2.25f, // point 2
+ -2.25f,-2.25f,2.25f, // point 3
+ 2.25f,2.25f,-2.25f, // point 4
+ -2.25f,2.25f,-2.25f, // point 5
+ 2.25f,-2.25f,-2.25f, // point 6
+ -2.25f,-2.25f,-2.25f, // point 7
+};
+const unsigned int test_convex_pointcount = 8;
+// polygons for a cube (6 squares), index
+unsigned int test_convex_polygons[] =
+{
+ 4,0,2,6,4, // positive X
+ 4,1,0,4,5, // positive Y
+ 4,0,1,3,2, // positive Z
+ 4,3,1,5,7, // negative X
+ 4,2,3,7,6, // negative Y
+ 4,5,4,6,7, // negative Z
+};
+
static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
{
prvm_prog_t *prog = world->prog;
const float *iv;
const int *ie;
- dBodyID body = (dBodyID)ed->priv.server->ode_body;
+ dBodyID body;
dMass mass;
- dReal test;
const dReal *ovelocity, *ospinvelocity;
void *dataID;
- dVector3 capsulerot[3];
dp_model_t *model;
float *ov;
int *oe;
int movetype = MOVETYPE_NONE;
int numtriangles;
int numvertices;
- int solid = SOLID_NOT;
+ int solid = SOLID_NOT, geomtype = 0;
int triangleindex;
int vertexindex;
mempool_t *mempool;
vec_t massval = 1.0f;
vec_t movelimit;
vec_t radius;
- vec_t scale = 1.0f;
+ vec3_t scale;
vec_t spinlimit;
+ vec_t test;
qboolean gravity;
+ qboolean geom_modified = false;
edict_odefunc_t *func, *nextf;
-#ifdef ODE_DYNAMIC
+ dReal *planes, *planesData, *pointsData;
+ unsigned int *polygons, *polygonsData, polyvert;
+ qboolean *mapped, *used, convex_compatible;
+ int numplanes = 0, numpoints = 0, i;
+
+#ifndef LINK_TO_LIBODE
if (!ode_dll)
return;
#endif
VectorClear(entmins);
VectorClear(entmaxs);
+
solid = (int)PRVM_gameedictfloat(ed, solid);
+ geomtype = (int)PRVM_gameedictfloat(ed, geomtype);
movetype = (int)PRVM_gameedictfloat(ed, movetype);
- scale = PRVM_gameedictfloat(ed, scale);if (!scale) scale = 1.0f;
+ // support scale and q3map/radiant's modelscale_vec
+ if (PRVM_gameedictvector(ed, modelscale_vec)[0] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[1] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[2] != 0.0)
+ VectorCopy(PRVM_gameedictvector(ed, modelscale_vec), scale);
+ else if (PRVM_gameedictfloat(ed, scale))
+ VectorSet(scale, PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale));
+ else
+ VectorSet(scale, 1.0f, 1.0f, 1.0f);
modelindex = 0;
+ if (PRVM_gameedictfloat(ed, mass))
+ massval = PRVM_gameedictfloat(ed, mass);
+ if (movetype != MOVETYPE_PHYSICS)
+ massval = 1.0f;
mempool = prog->progs_mempool;
model = NULL;
- switch(solid)
+ if (!geomtype)
+ {
+ // VorteX: keep support for deprecated solid fields to not break mods
+ if (solid == SOLID_PHYSICS_TRIMESH || solid == SOLID_BSP)
+ geomtype = GEOMTYPE_TRIMESH;
+ else if (solid == SOLID_NOT || solid == SOLID_TRIGGER)
+ geomtype = GEOMTYPE_NONE;
+ else if (solid == SOLID_PHYSICS_SPHERE)
+ geomtype = GEOMTYPE_SPHERE;
+ else if (solid == SOLID_PHYSICS_CAPSULE)
+ geomtype = GEOMTYPE_CAPSULE;
+ else if (solid == SOLID_PHYSICS_CYLINDER)
+ geomtype = GEOMTYPE_CYLINDER;
+ else if (solid == SOLID_PHYSICS_BOX)
+ geomtype = GEOMTYPE_BOX;
+ else
+ geomtype = GEOMTYPE_BOX;
+ }
+ if (geomtype == GEOMTYPE_TRIMESH)
{
- case SOLID_BSP:
- case SOLID_PHYSICS_TRIMESH:
modelindex = (int)PRVM_gameedictfloat(ed, modelindex);
if (world == &sv.world)
model = SV_GetModelByIndex(modelindex);
model = NULL;
if (model)
{
- VectorScale(model->normalmins, scale, entmins);
- VectorScale(model->normalmaxs, scale, entmaxs);
- massval = PRVM_gameedictfloat(ed, mass);
+ entmins[0] = model->normalmins[0] * scale[0];
+ entmins[1] = model->normalmins[1] * scale[1];
+ entmins[2] = model->normalmins[2] * scale[2];
+ entmaxs[0] = model->normalmaxs[0] * scale[0];
+ entmaxs[1] = model->normalmaxs[1] * scale[1];
+ entmaxs[2] = model->normalmaxs[2] * scale[2];
+ geom_modified = !VectorCompare(ed->priv.server->ode_scale, scale) || ed->priv.server->ode_modelindex != modelindex;
}
else
{
+ Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
+ geomtype = GEOMTYPE_BOX;
+ VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
+ VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
modelindex = 0;
- massval = 1.0f;
+ geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
}
- break;
- case SOLID_BBOX:
- //case SOLID_SLIDEBOX:
- case SOLID_CORPSE:
- case SOLID_PHYSICS_BOX:
- case SOLID_PHYSICS_SPHERE:
- case SOLID_PHYSICS_CAPSULE:
+ }
+ else if (geomtype && geomtype != GEOMTYPE_NONE)
+ {
VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
- massval = PRVM_gameedictfloat(ed, mass);
- break;
- default:
+ geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
+ }
+ else
+ {
+ // geometry type not set, falling back
if (ed->priv.server->ode_physics)
World_Physics_RemoveFromEntity(world, ed);
return;
return;
}
- if (movetype != MOVETYPE_PHYSICS)
- massval = 1.0f;
+ // get friction
+ ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction) ? PRVM_gameedictfloat(ed, friction) : 1.0f;
- // get friction from entity
- if (PRVM_gameedictfloat(ed, friction))
- ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction);
- else
- ed->priv.server->ode_friction = 1.0;
-
// 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)
+ if (!ed->priv.server->ode_physics || ed->priv.server->ode_mass != massval || geom_modified)
{
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);
if (PRVM_gameedictvector(ed, massofs))
VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs));
- else
- 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)
+
+ // check geomsize
+ if (geomsize[0] * geomsize[1] * geomsize[2] == 0)
{
if (movetype == MOVETYPE_PHYSICS)
Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
- massval = 1.0f;
VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
}
- switch(solid)
+ // greate geom
+ switch(geomtype)
{
- case SOLID_BSP:
- case SOLID_PHYSICS_TRIMESH:
- ed->priv.server->ode_offsetmatrix = identitymatrix;
- if (!model)
- {
- Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
- goto treatasbox;
- }
+ case GEOMTYPE_TRIMESH:
// 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)
+ if (!model->brush.collisionmesh)
{
Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
goto treatasbox;
}
+
+ // check if trimesh can be defined with convex
+ convex_compatible = false;
+ for (i = 0;i < model->nummodelsurfaces;i++)
+ {
+ if (!strcmp(((msurface_t *)(model->data_surfaces + model->firstmodelsurface + i))->texture->name, "collisionconvex"))
+ {
+ convex_compatible = true;
+ 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...
// 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]));
+
+ // VorteX: rebuild geomsize based on entity's collision mesh, honor scale
+ VectorSet(entmins, 0, 0, 0);
+ VectorSet(entmaxs, 0, 0, 0);
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];
+ ov[0] = iv[0] * scale[0];
+ ov[1] = iv[1] * scale[1];
+ ov[2] = iv[2] * scale[2];
+ entmins[0] = min(entmins[0], ov[0]);
+ entmins[1] = min(entmins[1], ov[1]);
+ entmins[2] = min(entmins[2], ov[2]);
+ entmaxs[0] = max(entmaxs[0], ov[0]);
+ entmaxs[1] = max(entmaxs[1], ov[1]);
+ entmaxs[2] = max(entmaxs[2], ov[2]);
+ }
+ if (!PRVM_gameedictvector(ed, massofs))
+ VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
+ for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
+ {
+ ov[0] = ov[0] - geomcenter[0];
+ ov[1] = ov[1] - geomcenter[1];
+ ov[2] = ov[2] - geomcenter[2];
+ }
+ VectorSubtract(entmaxs, entmins, geomsize);
+ if (VectorLength2(geomsize) == 0)
+ {
+ if (movetype == MOVETYPE_PHYSICS)
+ Con_Printf("entity %i collision mesh has null geomsize\n", PRVM_NUM_FOR_EDICT(ed));
+ VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
}
ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
oe[1] = ie[1];
oe[2] = ie[0];
}
+ // create geom
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
- // now create the geom
- dataID = dGeomTriMeshDataCreate();
- dGeomTriMeshDataBuildSingle((dTriMeshDataID)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((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL);
- dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ if (!convex_compatible || !physics_ode_allowconvex.integer)
+ {
+ // trimesh
+ dataID = dGeomTriMeshDataCreate();
+ dGeomTriMeshDataBuildSingle((dTriMeshDataID)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((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL);
+ dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ }
+ else
+ {
+ // VorteX: this code is unfinished in two ways
+ // - no duplicate vertex merging are done
+ // - triangles that shares same edge and havee sam plane are not merget into poly
+ // so, currently it only works for geosphere meshes with no UV
+
+ Con_Printf("Build convex hull for model %s...\n", model->name);
+ // build convex geometry from trimesh data
+ // this ensures that trimesh's triangles can form correct convex geometry
+ // not many of error checking is performed
+ // ODE's conve hull data consist of:
+ // planes : an array of planes in the form: normal X, normal Y, normal Z, distance
+ // points : an array of points X,Y,Z
+ // polygons: an array of indices to the points of each polygon,it should be the number of vertices
+ // followed by that amount of indices to "points" in counter clockwise order
+ polygonsData = polygons = (unsigned int *)Mem_Alloc(mempool, numtriangles*sizeof(int)*4);
+ planesData = planes = (dReal *)Mem_Alloc(mempool, numtriangles*sizeof(dReal)*4);
+ mapped = (qboolean *)Mem_Alloc(mempool, numvertices*sizeof(qboolean));
+ used = (qboolean *)Mem_Alloc(mempool, numtriangles*sizeof(qboolean));
+ memset(mapped, 0, numvertices*sizeof(qboolean));
+ memset(used, 0, numtriangles*sizeof(qboolean));
+ numplanes = numpoints = polyvert = 0;
+ // build convex hull
+ // todo: merge duplicated verts here
+ Con_Printf("Building...\n");
+ iv = ed->priv.server->ode_vertex3f;
+ for (triangleindex = 0; triangleindex < numtriangles; triangleindex++)
+ {
+ // already formed a polygon?
+ if (used[triangleindex])
+ continue;
+ // init polygon
+ // switch clockwise->counterclockwise
+ ie = &model->brush.collisionmesh->element3i[triangleindex*3];
+ used[triangleindex] = true;
+ TriangleNormal(&iv[ie[0]*3], &iv[ie[1]*3], &iv[ie[2]*3], planes);
+ VectorNormalize(planes);
+ polygons[0] = 3;
+ polygons[3] = (unsigned int)ie[0]; mapped[polygons[3]] = true;
+ polygons[2] = (unsigned int)ie[1]; mapped[polygons[2]] = true;
+ polygons[1] = (unsigned int)ie[2]; mapped[polygons[1]] = true;
+
+ // now find and include concave triangles
+ for (i = triangleindex; i < numtriangles; i++)
+ {
+ if (used[i])
+ continue;
+ // should share at least 2 vertexes
+ for (polyvert = 1; polyvert <= polygons[0]; polyvert++)
+ {
+ // todo: merge in triangles that shares an edge and have same plane here
+ }
+ }
+
+ // add polygon to overall stats
+ planes[3] = DotProduct(&iv[polygons[1]*3], planes);
+ polygons += (polygons[0]+1);
+ planes += 4;
+ numplanes++;
+ }
+ Mem_Free(used);
+ // save points
+ for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
+ if (mapped[vertexindex])
+ numpoints++;
+ pointsData = (dReal *)Mem_Alloc(mempool, numpoints*sizeof(dReal)*3 + numplanes*sizeof(dReal)*4); // planes is appended
+ for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
+ {
+ if (mapped[vertexindex])
+ {
+ VectorCopy(&iv[vertexindex*3], &pointsData[numpoints*3]);
+ numpoints++;
+ }
+ }
+ Mem_Free(mapped);
+ Con_Printf("Points: \n");
+ for (i = 0; i < (int)numpoints; i++)
+ Con_Printf("%3i: %3.1f %3.1f %3.1f\n", i, pointsData[i*3], pointsData[i*3+1], pointsData[i*3+2]);
+ // save planes
+ planes = planesData;
+ planesData = pointsData + numpoints*3;
+ memcpy(planesData, planes, numplanes*sizeof(dReal)*4);
+ Mem_Free(planes);
+ Con_Printf("planes...\n");
+ for (i = 0; i < numplanes; i++)
+ Con_Printf("%3i: %1.1f %1.1f %1.1f %1.1f\n", i, planesData[i*4], planesData[i*4 + 1], planesData[i*4 + 2], planesData[i*4 + 3]);
+ // save polygons
+ polyvert = polygons - polygonsData;
+ polygons = polygonsData;
+ polygonsData = (unsigned int *)Mem_Alloc(mempool, polyvert*sizeof(int));
+ memcpy(polygonsData, polygons, polyvert*sizeof(int));
+ Mem_Free(polygons);
+ Con_Printf("Polygons: \n");
+ polygons = polygonsData;
+ for (i = 0; i < numplanes; i++)
+ {
+ Con_Printf("%3i : %i ", i, polygons[0]);
+ for (triangleindex = 1; triangleindex <= (int)polygons[0]; triangleindex++)
+ Con_Printf("%3i ", polygons[triangleindex]);
+ polygons += (polygons[0]+1);
+ Con_Printf("\n");
+ }
+ Mem_Free(ed->priv.server->ode_element3i);
+ ed->priv.server->ode_element3i = (int *)polygonsData;
+ Mem_Free(ed->priv.server->ode_vertex3f);
+ ed->priv.server->ode_vertex3f = (float *)pointsData;
+ // check for properly build polygons by calculating the determinant of the 3x3 matrix composed of the first 3 points in the polygon
+ // this code is picked from ODE Source
+ Con_Printf("Check...\n");
+ polygons = polygonsData;
+ for (i = 0; i < numplanes; i++)
+ {
+ if((pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+2] +
+ pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+0] +
+ pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+1] -
+ pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+0] -
+ pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+2] -
+ pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+1]) < 0)
+ Con_Printf("WARNING: Polygon %d is not defined counterclockwise\n", i);
+ if (planesData[(i*4)+3] < 0)
+ Con_Printf("WARNING: Plane %d does not contain the origin\n", i);
+ polygons += (*polygons + 1);
+ }
+ // create geom
+ Con_Printf("Create geom...\n");
+ ed->priv.server->ode_geom = (void *)dCreateConvex((dSpaceID)world->physics.ode_space, planesData, numplanes, pointsData, numpoints, polygonsData);
+ dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ Con_Printf("Done!\n");
+ }
break;
- case SOLID_BBOX:
- case SOLID_SLIDEBOX:
- case SOLID_CORPSE:
- case SOLID_PHYSICS_BOX:
+ case GEOMTYPE_BOX:
treatasbox:
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
break;
- case SOLID_PHYSICS_SPHERE:
+ case GEOMTYPE_SPHERE:
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f);
dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
break;
- case SOLID_PHYSICS_CAPSULE:
- case SOLID_PHYSICS_CYLINDER:
+ case GEOMTYPE_CAPSULE:
axisindex = 0;
if (geomsize[axisindex] < geomsize[1])
axisindex = 1;
// 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);
+ radius = min(geomsize[1], geomsize[2]) * 0.5f;
+ }
else if (axisindex == 1)
+ {
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[2]) * 0.5f;
+ }
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
+ radius = min(geomsize[0], geomsize[1]) * 0.5f;
+ }
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)
- if (solid == SOLID_PHYSICS_CAPSULE)
+ ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
+ break;
+ case GEOMTYPE_CAPSULE_X:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+ radius = min(geomsize[1], geomsize[2]) * 0.5f;
+ length = geomsize[0] - radius*2;
+ // check if length is not enough, reduce radius then
+ if (length <= 0)
{
- ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
- dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
+ radius -= (1 - length)*0.5;
+ length = 1;
+ }
+ ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, 1, radius, length);
+ break;
+ case GEOMTYPE_CAPSULE_Y:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[2]) * 0.5f;
+ length = geomsize[1] - radius*2;
+ // check if length is not enough, reduce radius then
+ if (length <= 0)
+ {
+ radius -= (1 - length)*0.5;
+ length = 1;
+ }
+ ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, 2, radius, length);
+ break;
+ case GEOMTYPE_CAPSULE_Z:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
+ radius = min(geomsize[1], geomsize[0]) * 0.5f;
+ length = geomsize[2] - radius*2;
+ // check if length is not enough, reduce radius then
+ if (length <= 0)
+ {
+ radius -= (1 - length)*0.5;
+ length = 1;
+ }
+ ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, 3, radius, length);
+ break;
+ case GEOMTYPE_CYLINDER:
+ 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
+ if (axisindex == 0)
+ {
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+ radius = min(geomsize[1], geomsize[2]) * 0.5f;
+ }
+ else if (axisindex == 1)
+ {
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[2]) * 0.5f;
}
else
{
- ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
- dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[1]) * 0.5f;
}
+ length = geomsize[axisindex];
+ // check if length is not enough, reduce radius then
+ if (length <= 0)
+ {
+ radius -= (1 - length)*0.5;
+ length = 1;
+ }
+ ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
+ break;
+ case GEOMTYPE_CYLINDER_X:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+ radius = min(geomsize[1], geomsize[2]) * 0.5f;
+ length = geomsize[0];
+ ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCylinderTotal(&mass, massval, 1, radius, length);
+ break;
+ case GEOMTYPE_CYLINDER_Y:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[2]) * 0.5f;
+ length = geomsize[1];
+ ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCylinderTotal(&mass, massval, 2, radius, length);
+ break;
+ case GEOMTYPE_CYLINDER_Z:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[1]) * 0.5f;
+ length = geomsize[2];
+ ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCylinderTotal(&mass, massval, 3, radius, length);
break;
default:
- Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
+ Sys_Error("World_Physics_BodyFromEntity: unrecognized geomtype value %i was accepted by filter\n", solid);
// this goto only exists to prevent warnings from the compiler
// about uninitialized variables (mass), while allowing it to
// catch legitimate uninitialized variable warnings
goto treatasbox;
}
+ ed->priv.server->ode_mass = massval;
+ ed->priv.server->ode_modelindex = modelindex;
+ VectorCopy(entmins, ed->priv.server->ode_mins);
+ VectorCopy(entmaxs, ed->priv.server->ode_maxs);
+ VectorCopy(scale, ed->priv.server->ode_scale);
+ ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
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));
dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed);
if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
{
+ // entity is dynamic
if (ed->priv.server->ode_body == NULL)
{
ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world));
}
else
{
+ // entity is deactivated
if (ed->priv.server->ode_body != NULL)
{
if(ed->priv.server->ode_geom)
if (physics_ode_trick_fixnan.integer)
{
test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
- if (IS_NAN(test))
+ if (VEC_IS_NAN(test))
{
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_gameedictstring(ed, classname)), 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]);
if (physics_ode_trick_fixnan.integer >= 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(prog, PRVM_gameedictstring(ed, classname)), 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))
+ if (VEC_IS_NAN(test))
VectorClear(origin);
test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
- if (IS_NAN(test))
+ if (VEC_IS_NAN(test))
{
VectorSet(angles, 0, 0, 0);
VectorSet(forward, 1, 0, 0);
VectorSet(up, 0, 0, 1);
}
test = VectorLength2(velocity);
- if (IS_NAN(test))
+ if (VEC_IS_NAN(test))
VectorClear(velocity);
test = VectorLength2(spinvelocity);
- if (IS_NAN(test))
+ if (VEC_IS_NAN(test))
{
VectorClear(avelocity);
VectorClear(spinvelocity);
r[0][2] = up[0];
r[1][2] = up[1];
r[2][2] = up[2];
- if(body)
+ if (body)
{
- if(movetype == MOVETYPE_PHYSICS)
+ if (movetype == MOVETYPE_PHYSICS)
{
dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
dBodySetPosition(body, origin[0], origin[1], origin[2]);
}
}
- if(body)
+ if (body)
{
// limit movement speed to prevent missed collisions at high speed
}
}
-#define MAX_CONTACTS 16
+#define MAX_CONTACTS 32
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
world_t *world = (world_t *)data;
prvm_prog_t *prog = world->prog;
dContact contact[MAX_CONTACTS]; // max contacts per collision pair
- dBodyID b1;
- dBodyID b2;
+ int b1enabled = 0, b2enabled = 0;
+ dBodyID b1, b2;
dJointID c;
int i;
int numcontacts;
}
b1 = dGeomGetBody(o1);
+ if (b1)
+ b1enabled = dBodyIsEnabled(b1);
b2 = dGeomGetBody(o2);
+ if (b2)
+ b2enabled = dBodyIsEnabled(b2);
- // at least one object has to be using MOVETYPE_PHYSICS or we just don't care
- if (!b1 && !b2)
+ // at least one object has to be using MOVETYPE_PHYSICS and should be enabled or we just don't care
+ if (!b1enabled && !b2enabled)
return;
-
+
// exit without doing anything if the two bodies are connected by a joint
if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
return;
// select object that moves faster ang get it's erp
erp = (VectorLength2(PRVM_gameedictvector(ed1, velocity)) > VectorLength2(PRVM_gameedictvector(ed2, velocity))) ? PRVM_gameedictfloat(ed1, erp) : PRVM_gameedictfloat(ed2, erp);
+ // get max contact points for this collision
+ numcontacts = (int)PRVM_gameedictfloat(ed1, maxcontacts);
+ if (!numcontacts)
+ numcontacts = physics_ode_contact_maxpoints.integer;
+ if (PRVM_gameedictfloat(ed2, maxcontacts))
+ numcontacts = max(numcontacts, (int)PRVM_gameedictfloat(ed2, maxcontacts));
+ else
+ numcontacts = max(numcontacts, physics_ode_contact_maxpoints.integer);
+
// generate contact points between the two non-space geoms
- numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
+ numcontacts = dCollide(o1, o2, min(MAX_CONTACTS, numcontacts), &(contact[0].geom), sizeof(contact[0]));
// add these contact points to the simulation
for (i = 0;i < numcontacts;i++)
{
void World_Physics_Frame(world_t *world, double frametime, double gravity)
{
+#ifdef USEODE
prvm_prog_t *prog = world->prog;
double tdelta, tdelta2, tdelta3, simulationtime, collisiontime;
tdelta = Sys_DirtyTime();
-#ifdef USEODE
if (world->physics.ode && physics_ode.integer)
{
int i;
prvm_edict_t *ed;
- world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
- if (physics_ode_constantstep.integer > 0 && physics_ode_constantstep.integer < 1)
- world->physics.ode_step = physics_ode_constantstep.integer / world->physics.ode_iterations;
- else if (physics_ode_constantstep.integer)
- world->physics.ode_step = sys_ticrate.integer / world->physics.ode_iterations;
- else
+ if (!physics_ode_constantstep.value)
+ {
+ world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
world->physics.ode_step = frametime / world->physics.ode_iterations;
+ }
+ else
+ {
+ world->physics.ode_time += frametime;
+ // step size
+ if (physics_ode_constantstep.value > 0 && physics_ode_constantstep.value < 1)
+ world->physics.ode_step = physics_ode_constantstep.value;
+ else
+ world->physics.ode_step = sys_ticrate.value;
+ if (world->physics.ode_time > 0.2f)
+ world->physics.ode_time = world->physics.ode_step;
+ // set number of iterations to process
+ world->physics.ode_iterations = 0;
+ while(world->physics.ode_time >= world->physics.ode_step)
+ {
+ world->physics.ode_iterations++;
+ world->physics.ode_time -= world->physics.ode_step;
+ }
+ }
world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
World_Physics_UpdateODE(world);
dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value);
// set the tolerance for closeness of objects
dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
-
// run collisions for the current world state, creating JointGroup
tdelta3 = Sys_DirtyTime();
dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
collisiontime += (Sys_DirtyTime() - tdelta3)*10000;
-
+ // apply forces
+ if (prog)
+ {
+ int j;
+ for (j = 0, ed = prog->edicts + j;j < prog->num_edicts;j++, ed++)
+ if (!prog->edicts[j].priv.required->free)
+ World_Physics_Frame_ForceFromEntity(world, ed);
+ }
// run physics (move objects, calculate new velocities)
// be sure not to pass 0 as step time because that causes an ODE error
dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200));
if (world->physics.ode_step > 0)
dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step);
-
// clear the JointGroup now that we're done with it
dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup);
}
if (dBodyIsEnabled(body))
world->physics.ode_activeovjects++;
}
- Con_Printf("ODE Stats(%s): %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, simulationtime, collisiontime, (Sys_DirtyTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects));
+ Con_Printf("ODE Stats(%s): %i iterations, %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, world->physics.ode_iterations, simulationtime, collisiontime, (Sys_DirtyTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects));
}
}
}
projects / xonotic / darkplaces.git / blobdiff