ODE physics engine support, needs more work, disabled by default
[xonotic/darkplaces.git] / world.c
diff --git a/world.c b/world.c
index 20abb84..85bc599 100644 (file)
--- a/world.c
+++ b/world.c
@@ -29,9 +29,29 @@ line of sight checks trace->inopen and trace->inwater, but bullets don't
 
 */
 
+static void World_Physics_Init(void);
 void World_Init(void)
 {
        Collision_Init();
+       World_Physics_Init();
+}
+
+static void World_Physics_Shutdown(void);
+void World_Shutdown(void)
+{
+       World_Physics_Shutdown();
+}
+
+static void World_Physics_Start(world_t *world);
+void World_Start(world_t *world)
+{
+       World_Physics_Start(world);
+}
+
+static void World_Physics_End(world_t *world);
+void World_End(world_t *world)
+{
+       World_Physics_End(world);
 }
 
 //============================================================================
@@ -285,3 +305,1728 @@ void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const
        VectorCopy(maxs, ent->priv.server->areamaxs);
        World_LinkEdict_AreaGrid(world, ent);
 }
+
+
+
+
+//============================================================================
+// physics engine support
+//============================================================================
+
+cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
+cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"};
+cvar_t physics_ode_worldquickstep = {0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStepFast1 or dWorldStep"};
+cvar_t physics_ode_worldquickstep_iterations = {0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"};
+cvar_t physics_ode_worldstepfast = {0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"};
+cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"};
+cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
+cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
+cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
+cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
+cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"};
+cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
+
+// LordHavoc: this large chunk of definitions comes from the ODE library
+// include files.
+
+//#ifndef ODE_STATIC
+//#define ODE_DYNAMIC 1
+//#endif
+
+#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
+#define USEODE 1
+#endif
+
+#ifdef USEODE
+#ifdef ODE_STATIC
+#include "ode/ode.h"
+#else
+#ifdef WINAPI
+#define ODE_API WINAPI
+#else
+#define ODE_API
+#endif
+
+// note: dynamic builds of ODE tend to be double precision, this is not used
+// for static builds
+typedef double dReal;
+
+typedef dReal dVector3[4];
+typedef dReal dVector4[4];
+typedef dReal dMatrix3[4*3];
+typedef dReal dMatrix4[4*4];
+typedef dReal dMatrix6[8*6];
+typedef dReal dQuaternion[4];
+
+struct dxWorld;                /* dynamics world */
+struct dxSpace;                /* collision space */
+struct dxBody;         /* rigid body (dynamics object) */
+struct dxGeom;         /* geometry (collision object) */
+struct dxJoint;
+struct dxJointNode;
+struct dxJointGroup;
+struct dxTriMeshData;
+
+typedef struct dxWorld *dWorldID;
+typedef struct dxSpace *dSpaceID;
+typedef struct dxBody *dBodyID;
+typedef struct dxGeom *dGeomID;
+typedef struct dxJoint *dJointID;
+typedef struct dxJointGroup *dJointGroupID;
+typedef struct dxTriMeshData *dTriMeshDataID;
+
+typedef struct dJointFeedback
+{
+       dVector3 f1;            /* force applied to body 1 */
+       dVector3 t1;            /* torque applied to body 1 */
+       dVector3 f2;            /* force applied to body 2 */
+       dVector3 t2;            /* torque applied to body 2 */
+}
+dJointFeedback;
+
+typedef enum dJointType
+{
+       dJointTypeNone = 0,
+       dJointTypeBall,
+       dJointTypeHinge,
+       dJointTypeSlider,
+       dJointTypeContact,
+       dJointTypeUniversal,
+       dJointTypeHinge2,
+       dJointTypeFixed,
+       dJointTypeNull,
+       dJointTypeAMotor,
+       dJointTypeLMotor,
+       dJointTypePlane2D,
+       dJointTypePR,
+       dJointTypePU,
+       dJointTypePiston
+}
+dJointType;
+
+typedef struct dMass
+{
+       dReal mass;
+       dVector3 c;
+       dMatrix3 I;
+}
+dMass;
+
+enum
+{
+       dContactMu2                     = 0x001,
+       dContactFDir1           = 0x002,
+       dContactBounce          = 0x004,
+       dContactSoftERP         = 0x008,
+       dContactSoftCFM         = 0x010,
+       dContactMotion1         = 0x020,
+       dContactMotion2         = 0x040,
+       dContactMotionN         = 0x080,
+       dContactSlip1           = 0x100,
+       dContactSlip2           = 0x200,
+       
+       dContactApprox0         = 0x0000,
+       dContactApprox1_1       = 0x1000,
+       dContactApprox1_2       = 0x2000,
+       dContactApprox1         = 0x3000
+};
+
+typedef struct dSurfaceParameters
+{
+       /* must always be defined */
+       int mode;
+       dReal mu;
+
+       /* only defined if the corresponding flag is set in mode */
+       dReal mu2;
+       dReal bounce;
+       dReal bounce_vel;
+       dReal soft_erp;
+       dReal soft_cfm;
+       dReal motion1,motion2,motionN;
+       dReal slip1,slip2;
+} dSurfaceParameters;
+
+typedef struct dContactGeom
+{
+       dVector3 pos;          ///< contact position
+       dVector3 normal;       ///< normal vector
+       dReal depth;           ///< penetration depth
+       dGeomID g1,g2;         ///< the colliding geoms
+       int side1,side2;       ///< (to be documented)
+}
+dContactGeom;
+
+typedef struct dContact
+{
+       dSurfaceParameters surface;
+       dContactGeom geom;
+       dVector3 fdir1;
+}
+dContact;
+
+typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
+
+// SAP
+// Order XZY or ZXY usually works best, if your Y is up.
+#define dSAP_AXES_XYZ  ((0)|(1<<2)|(2<<4))
+#define dSAP_AXES_XZY  ((0)|(2<<2)|(1<<4))
+#define dSAP_AXES_YXZ  ((1)|(0<<2)|(2<<4))
+#define dSAP_AXES_YZX  ((1)|(2<<2)|(0<<4))
+#define dSAP_AXES_ZXY  ((2)|(0<<2)|(1<<4))
+#define dSAP_AXES_ZYX  ((2)|(1<<2)|(0<<4))
+
+ODE_API const char*     (*dGetConfiguration)(void);
+ODE_API int             (*dCheckConfiguration)( const char* token );
+ODE_API int             (*dInitODE2)(unsigned int uiInitFlags);
+ODE_API int             (*dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
+ODE_API void            (*dCleanupODEAllDataForThread)(void);
+ODE_API void            (*dCloseODE)(void);
+
+//ODE_API int             (*dMassCheck)(const dMass *m);
+//ODE_API void            (*dMassSetZero)(dMass *);
+//ODE_API void            (*dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
+//ODE_API void            (*dMassSetSphere)(dMass *, dReal density, dReal radius);
+ODE_API void            (*dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
+//ODE_API void            (*dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
+ODE_API void            (*dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//ODE_API void            (*dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
+//ODE_API void            (*dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//ODE_API void            (*dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
+ODE_API void            (*dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
+//ODE_API void            (*dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
+//ODE_API void            (*dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
+//ODE_API void            (*dMassAdjust)(dMass *, dReal newmass);
+//ODE_API void            (*dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
+//ODE_API void            (*dMassRotate)(dMass *, const dMatrix3 R);
+//ODE_API void            (*dMassAdd)(dMass *a, const dMass *b);
+//
+ODE_API dWorldID        (*dWorldCreate)(void);
+ODE_API void            (*dWorldDestroy)(dWorldID world);
+ODE_API void            (*dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dWorldGetGravity)(dWorldID, dVector3 gravity);
+//ODE_API void            (*dWorldSetERP)(dWorldID, dReal erp);
+//ODE_API dReal           (*dWorldGetERP)(dWorldID);
+//ODE_API void            (*dWorldSetCFM)(dWorldID, dReal cfm);
+//ODE_API dReal           (*dWorldGetCFM)(dWorldID);
+ODE_API void            (*dWorldStep)(dWorldID, dReal stepsize);
+//ODE_API void            (*dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
+ODE_API void            (*dWorldQuickStep)(dWorldID w, dReal stepsize);
+ODE_API void            (*dWorldSetQuickStepNumIterations)(dWorldID, int num);
+//ODE_API int             (*dWorldGetQuickStepNumIterations)(dWorldID);
+//ODE_API void            (*dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
+//ODE_API dReal           (*dWorldGetQuickStepW)(dWorldID);
+//ODE_API void            (*dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
+//ODE_API dReal           (*dWorldGetContactMaxCorrectingVel)(dWorldID);
+ODE_API void            (*dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
+//ODE_API dReal           (*dWorldGetContactSurfaceLayer)(dWorldID);
+ODE_API void            (*dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
+//ODE_API void            (*dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
+//ODE_API int             (*dWorldGetAutoEnableDepthSF1)(dWorldID);
+//ODE_API dReal           (*dWorldGetAutoDisableLinearThreshold)(dWorldID);
+//ODE_API void            (*dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
+//ODE_API dReal           (*dWorldGetAutoDisableAngularThreshold)(dWorldID);
+//ODE_API void            (*dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
+//ODE_API dReal           (*dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
+//ODE_API void            (*dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
+//ODE_API dReal           (*dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
+//ODE_API void            (*dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
+//ODE_API int             (*dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
+//ODE_API void            (*dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
+//ODE_API int             (*dWorldGetAutoDisableSteps)(dWorldID);
+//ODE_API void            (*dWorldSetAutoDisableSteps)(dWorldID, int steps);
+//ODE_API dReal           (*dWorldGetAutoDisableTime)(dWorldID);
+//ODE_API void            (*dWorldSetAutoDisableTime)(dWorldID, dReal time);
+//ODE_API int             (*dWorldGetAutoDisableFlag)(dWorldID);
+//ODE_API void            (*dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
+//ODE_API dReal           (*dWorldGetLinearDampingThreshold)(dWorldID w);
+//ODE_API void            (*dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
+//ODE_API dReal           (*dWorldGetAngularDampingThreshold)(dWorldID w);
+//ODE_API void            (*dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
+//ODE_API dReal           (*dWorldGetLinearDamping)(dWorldID w);
+//ODE_API void            (*dWorldSetLinearDamping)(dWorldID w, dReal scale);
+//ODE_API dReal           (*dWorldGetAngularDamping)(dWorldID w);
+//ODE_API void            (*dWorldSetAngularDamping)(dWorldID w, dReal scale);
+//ODE_API void            (*dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
+//ODE_API dReal           (*dWorldGetMaxAngularSpeed)(dWorldID w);
+//ODE_API void            (*dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
+//ODE_API dReal           (*dBodyGetAutoDisableLinearThreshold)(dBodyID);
+//ODE_API void            (*dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
+//ODE_API dReal           (*dBodyGetAutoDisableAngularThreshold)(dBodyID);
+//ODE_API void            (*dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
+//ODE_API int             (*dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
+//ODE_API void            (*dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
+//ODE_API int             (*dBodyGetAutoDisableSteps)(dBodyID);
+//ODE_API void            (*dBodySetAutoDisableSteps)(dBodyID, int steps);
+//ODE_API dReal           (*dBodyGetAutoDisableTime)(dBodyID);
+//ODE_API void            (*dBodySetAutoDisableTime)(dBodyID, dReal time);
+//ODE_API int             (*dBodyGetAutoDisableFlag)(dBodyID);
+//ODE_API void            (*dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
+//ODE_API void            (*dBodySetAutoDisableDefaults)(dBodyID);
+//ODE_API dWorldID        (*dBodyGetWorld)(dBodyID);
+ODE_API dBodyID         (*dBodyCreate)(dWorldID);
+ODE_API void            (*dBodyDestroy)(dBodyID);
+ODE_API void            (*dBodySetData)(dBodyID, void *data);
+//ODE_API void *          (*dBodyGetData)(dBodyID);
+ODE_API void            (*dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
+ODE_API void            (*dBodySetRotation)(dBodyID, const dMatrix3 R);
+//ODE_API void            (*dBodySetQuaternion)(dBodyID, const dQuaternion q);
+ODE_API void            (*dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
+ODE_API void            (*dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
+ODE_API const dReal *   (*dBodyGetPosition)(dBodyID);
+//ODE_API void            (*dBodyCopyPosition)(dBodyID body, dVector3 pos);
+ODE_API const dReal *   (*dBodyGetRotation)(dBodyID);
+//ODE_API void            (*dBodyCopyRotation)(dBodyID, dMatrix3 R);
+//ODE_API const dReal *   (*dBodyGetQuaternion)(dBodyID);
+//ODE_API void            (*dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
+ODE_API const dReal *   (*dBodyGetLinearVel)(dBodyID);
+ODE_API const dReal *   (*dBodyGetAngularVel)(dBodyID);
+ODE_API void            (*dBodySetMass)(dBodyID, const dMass *mass);
+//ODE_API void            (*dBodyGetMass)(dBodyID, dMass *mass);
+//ODE_API void            (*dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//ODE_API void            (*dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//ODE_API void            (*dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//ODE_API void            (*dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//ODE_API void            (*dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//ODE_API void            (*dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//ODE_API void            (*dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//ODE_API void            (*dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//ODE_API const dReal *   (*dBodyGetForce)(dBodyID);
+//ODE_API const dReal *   (*dBodyGetTorque)(dBodyID);
+//ODE_API void            (*dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
+//ODE_API void            (*dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
+//ODE_API void            (*dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void            (*dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void            (*dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void            (*dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void            (*dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void            (*dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void            (*dBodySetFiniteRotationMode)(dBodyID, int mode);
+//ODE_API void            (*dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
+//ODE_API int             (*dBodyGetFiniteRotationMode)(dBodyID);
+//ODE_API void            (*dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
+//ODE_API int             (*dBodyGetNumJoints)(dBodyID b);
+//ODE_API dJointID        (*dBodyGetJoint)(dBodyID, int index);
+//ODE_API void            (*dBodySetDynamic)(dBodyID);
+//ODE_API void            (*dBodySetKinematic)(dBodyID);
+//ODE_API int             (*dBodyIsKinematic)(dBodyID);
+//ODE_API void            (*dBodyEnable)(dBodyID);
+//ODE_API void            (*dBodyDisable)(dBodyID);
+//ODE_API int             (*dBodyIsEnabled)(dBodyID);
+//ODE_API void            (*dBodySetGravityMode)(dBodyID b, int mode);
+//ODE_API int             (*dBodyGetGravityMode)(dBodyID b);
+//ODE_API void            (*dBodySetMovedCallback)(dBodyID b, void(*callback)(dBodyID));
+//ODE_API dGeomID         (*dBodyGetFirstGeom)(dBodyID b);
+//ODE_API dGeomID         (*dBodyGetNextGeom)(dGeomID g);
+//ODE_API void            (*dBodySetDampingDefaults)(dBodyID b);
+//ODE_API dReal           (*dBodyGetLinearDamping)(dBodyID b);
+//ODE_API void            (*dBodySetLinearDamping)(dBodyID b, dReal scale);
+//ODE_API dReal           (*dBodyGetAngularDamping)(dBodyID b);
+//ODE_API void            (*dBodySetAngularDamping)(dBodyID b, dReal scale);
+//ODE_API void            (*dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
+//ODE_API dReal           (*dBodyGetLinearDampingThreshold)(dBodyID b);
+//ODE_API void            (*dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
+//ODE_API dReal           (*dBodyGetAngularDampingThreshold)(dBodyID b);
+//ODE_API void            (*dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
+//ODE_API dReal           (*dBodyGetMaxAngularSpeed)(dBodyID b);
+//ODE_API void            (*dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
+//ODE_API int             (*dBodyGetGyroscopicMode)(dBodyID b);
+//ODE_API void            (*dBodySetGyroscopicMode)(dBodyID b, int enabled);
+//ODE_API dJointID        (*dJointCreateBall)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreateHinge)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreateSlider)(dWorldID, dJointGroupID);
+ODE_API dJointID        (*dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
+//ODE_API dJointID        (*dJointCreateHinge2)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreateUniversal)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreatePR)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreatePU)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreatePiston)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreateFixed)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreateNull)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreateAMotor)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreateLMotor)(dWorldID, dJointGroupID);
+//ODE_API dJointID        (*dJointCreatePlane2D)(dWorldID, dJointGroupID);
+//ODE_API void            (*dJointDestroy)(dJointID);
+ODE_API dJointGroupID   (*dJointGroupCreate)(int max_size);
+ODE_API void            (*dJointGroupDestroy)(dJointGroupID);
+ODE_API void            (*dJointGroupEmpty)(dJointGroupID);
+//ODE_API int             (*dJointGetNumBodies)(dJointID);
+ODE_API void            (*dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
+//ODE_API void            (*dJointEnable)(dJointID);
+//ODE_API void            (*dJointDisable)(dJointID);
+//ODE_API int             (*dJointIsEnabled)(dJointID);
+//ODE_API void            (*dJointSetData)(dJointID, void *data);
+//ODE_API void *          (*dJointGetData)(dJointID);
+//ODE_API dJointType      (*dJointGetType)(dJointID);
+//ODE_API dBodyID         (*dJointGetBody)(dJointID, int index);
+//ODE_API void            (*dJointSetFeedback)(dJointID, dJointFeedback *);
+//ODE_API dJointFeedback *(*dJointGetFeedback)(dJointID);
+//ODE_API void            (*dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetBallParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+//ODE_API void            (*dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
+//ODE_API void            (*dJointSetHingeParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointAddHingeTorque)(dJointID joint, dReal torque);
+//ODE_API void            (*dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+//ODE_API void            (*dJointSetSliderParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointAddSliderForce)(dJointID joint, dReal force);
+//ODE_API void            (*dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetHinge2Param)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
+//ODE_API void            (*dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+//ODE_API void            (*dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+//ODE_API void            (*dJointSetUniversalParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
+//ODE_API void            (*dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetPRParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointAddPRTorque)(dJointID j, dReal torque);
+//ODE_API void            (*dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//ODE_API void            (*dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetPUParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointAddPUTorque)(dJointID j, dReal torque);
+//ODE_API void            (*dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//ODE_API void            (*dJointSetPistonParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointAddPistonForce)(dJointID joint, dReal force);
+//ODE_API void            (*dJointSetFixed)(dJointID);
+//ODE_API void            (*dJointSetFixedParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointSetAMotorNumAxes)(dJointID, int num);
+//ODE_API void            (*dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
+//ODE_API void            (*dJointSetAMotorParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointSetAMotorMode)(dJointID, int mode);
+//ODE_API void            (*dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
+//ODE_API void            (*dJointSetLMotorNumAxes)(dJointID, int num);
+//ODE_API void            (*dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//ODE_API void            (*dJointSetLMotorParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
+//ODE_API void            (*dJointGetBallAnchor)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetBallAnchor2)(dJointID, dVector3 result);
+//ODE_API dReal           (*dJointGetBallParam)(dJointID, int parameter);
+//ODE_API void            (*dJointGetHingeAnchor)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetHingeAnchor2)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetHingeAxis)(dJointID, dVector3 result);
+//ODE_API dReal           (*dJointGetHingeParam)(dJointID, int parameter);
+//ODE_API dReal           (*dJointGetHingeAngle)(dJointID);
+//ODE_API dReal           (*dJointGetHingeAngleRate)(dJointID);
+//ODE_API dReal           (*dJointGetSliderPosition)(dJointID);
+//ODE_API dReal           (*dJointGetSliderPositionRate)(dJointID);
+//ODE_API void            (*dJointGetSliderAxis)(dJointID, dVector3 result);
+//ODE_API dReal           (*dJointGetSliderParam)(dJointID, int parameter);
+//ODE_API void            (*dJointGetHinge2Anchor)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetHinge2Anchor2)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetHinge2Axis1)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetHinge2Axis2)(dJointID, dVector3 result);
+//ODE_API dReal           (*dJointGetHinge2Param)(dJointID, int parameter);
+//ODE_API dReal           (*dJointGetHinge2Angle1)(dJointID);
+//ODE_API dReal           (*dJointGetHinge2Angle1Rate)(dJointID);
+//ODE_API dReal           (*dJointGetHinge2Angle2Rate)(dJointID);
+//ODE_API void            (*dJointGetUniversalAnchor)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetUniversalAnchor2)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetUniversalAxis1)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetUniversalAxis2)(dJointID, dVector3 result);
+//ODE_API dReal           (*dJointGetUniversalParam)(dJointID, int parameter);
+//ODE_API void            (*dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
+//ODE_API dReal           (*dJointGetUniversalAngle1)(dJointID);
+//ODE_API dReal           (*dJointGetUniversalAngle2)(dJointID);
+//ODE_API dReal           (*dJointGetUniversalAngle1Rate)(dJointID);
+//ODE_API dReal           (*dJointGetUniversalAngle2Rate)(dJointID);
+//ODE_API void            (*dJointGetPRAnchor)(dJointID, dVector3 result);
+//ODE_API dReal           (*dJointGetPRPosition)(dJointID);
+//ODE_API dReal           (*dJointGetPRPositionRate)(dJointID);
+//ODE_API dReal           (*dJointGetPRAngle)(dJointID);
+//ODE_API dReal           (*dJointGetPRAngleRate)(dJointID);
+//ODE_API void            (*dJointGetPRAxis1)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetPRAxis2)(dJointID, dVector3 result);
+//ODE_API dReal           (*dJointGetPRParam)(dJointID, int parameter);
+//ODE_API void            (*dJointGetPUAnchor)(dJointID, dVector3 result);
+//ODE_API dReal           (*dJointGetPUPosition)(dJointID);
+//ODE_API dReal           (*dJointGetPUPositionRate)(dJointID);
+//ODE_API void            (*dJointGetPUAxis1)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetPUAxis2)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetPUAxis3)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetPUAxisP)(dJointID id, dVector3 result);
+//ODE_API void            (*dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
+//ODE_API dReal           (*dJointGetPUAngle1)(dJointID);
+//ODE_API dReal           (*dJointGetPUAngle1Rate)(dJointID);
+//ODE_API dReal           (*dJointGetPUAngle2)(dJointID);
+//ODE_API dReal           (*dJointGetPUAngle2Rate)(dJointID);
+//ODE_API dReal           (*dJointGetPUParam)(dJointID, int parameter);
+//ODE_API dReal           (*dJointGetPistonPosition)(dJointID);
+//ODE_API dReal           (*dJointGetPistonPositionRate)(dJointID);
+//ODE_API dReal           (*dJointGetPistonAngle)(dJointID);
+//ODE_API dReal           (*dJointGetPistonAngleRate)(dJointID);
+//ODE_API void            (*dJointGetPistonAnchor)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetPistonAnchor2)(dJointID, dVector3 result);
+//ODE_API void            (*dJointGetPistonAxis)(dJointID, dVector3 result);
+//ODE_API dReal           (*dJointGetPistonParam)(dJointID, int parameter);
+//ODE_API int             (*dJointGetAMotorNumAxes)(dJointID);
+//ODE_API void            (*dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
+//ODE_API int             (*dJointGetAMotorAxisRel)(dJointID, int anum);
+//ODE_API dReal           (*dJointGetAMotorAngle)(dJointID, int anum);
+//ODE_API dReal           (*dJointGetAMotorAngleRate)(dJointID, int anum);
+//ODE_API dReal           (*dJointGetAMotorParam)(dJointID, int parameter);
+//ODE_API int             (*dJointGetAMotorMode)(dJointID);
+//ODE_API int             (*dJointGetLMotorNumAxes)(dJointID);
+//ODE_API void            (*dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
+//ODE_API dReal           (*dJointGetLMotorParam)(dJointID, int parameter);
+//ODE_API dReal           (*dJointGetFixedParam)(dJointID, int parameter);
+//ODE_API dJointID        (*dConnectingJoint)(dBodyID, dBodyID);
+//ODE_API int             (*dConnectingJointList)(dBodyID, dBodyID, dJointID*);
+ODE_API int             (*dAreConnected)(dBodyID, dBodyID);
+ODE_API int             (*dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
+//
+ODE_API dSpaceID        (*dSimpleSpaceCreate)(dSpaceID space);
+ODE_API dSpaceID        (*dHashSpaceCreate)(dSpaceID space);
+ODE_API dSpaceID        (*dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
+ODE_API dSpaceID        (*dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
+ODE_API void            (*dSpaceDestroy)(dSpaceID);
+//ODE_API void            (*dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
+//ODE_API void            (*dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
+//ODE_API void            (*dSpaceSetCleanup)(dSpaceID space, int mode);
+//ODE_API int             (*dSpaceGetCleanup)(dSpaceID space);
+//ODE_API void            (*dSpaceSetSublevel)(dSpaceID space, int sublevel);
+//ODE_API int             (*dSpaceGetSublevel)(dSpaceID space);
+//ODE_API void            (*dSpaceSetManualCleanup)(dSpaceID space, int mode);
+//ODE_API int             (*dSpaceGetManualCleanup)(dSpaceID space);
+//ODE_API void            (*dSpaceAdd)(dSpaceID, dGeomID);
+//ODE_API void            (*dSpaceRemove)(dSpaceID, dGeomID);
+//ODE_API int             (*dSpaceQuery)(dSpaceID, dGeomID);
+//ODE_API void            (*dSpaceClean)(dSpaceID);
+//ODE_API int             (*dSpaceGetNumGeoms)(dSpaceID);
+//ODE_API dGeomID         (*dSpaceGetGeom)(dSpaceID, int i);
+//ODE_API int             (*dSpaceGetClass)(dSpaceID space);
+//
+ODE_API void            (*dGeomDestroy)(dGeomID geom);
+//ODE_API void            (*dGeomSetData)(dGeomID geom, void* data);
+//ODE_API void *          (*dGeomGetData)(dGeomID geom);
+ODE_API void            (*dGeomSetBody)(dGeomID geom, dBodyID body);
+ODE_API dBodyID         (*dGeomGetBody)(dGeomID geom);
+//ODE_API void            (*dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+ODE_API void            (*dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
+//ODE_API void            (*dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
+//ODE_API const dReal *   (*dGeomGetPosition)(dGeomID geom);
+//ODE_API void            (*dGeomCopyPosition)(dGeomID geom, dVector3 pos);
+//ODE_API const dReal *   (*dGeomGetRotation)(dGeomID geom);
+//ODE_API void            (*dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
+//ODE_API void            (*dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
+//ODE_API void            (*dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
+ODE_API int             (*dGeomIsSpace)(dGeomID geom);
+//ODE_API dSpaceID        (*dGeomGetSpace)(dGeomID);
+//ODE_API int             (*dGeomGetClass)(dGeomID geom);
+//ODE_API void            (*dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
+//ODE_API void            (*dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
+//ODE_API unsigned long   (*dGeomGetCategoryBits)(dGeomID);
+//ODE_API unsigned long   (*dGeomGetCollideBits)(dGeomID);
+//ODE_API void            (*dGeomEnable)(dGeomID geom);
+//ODE_API void            (*dGeomDisable)(dGeomID geom);
+//ODE_API int             (*dGeomIsEnabled)(dGeomID geom);
+//ODE_API void            (*dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//ODE_API void            (*dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
+//ODE_API void            (*dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
+//ODE_API void            (*dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//ODE_API void            (*dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
+//ODE_API void            (*dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
+//ODE_API void            (*dGeomClearOffset)(dGeomID geom);
+//ODE_API int             (*dGeomIsOffset)(dGeomID geom);
+//ODE_API const dReal *   (*dGeomGetOffsetPosition)(dGeomID geom);
+//ODE_API void            (*dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
+//ODE_API const dReal *   (*dGeomGetOffsetRotation)(dGeomID geom);
+//ODE_API void            (*dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
+//ODE_API void            (*dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
+ODE_API int             (*dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
+//
+ODE_API void            (*dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
+ODE_API void            (*dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
+//
+ODE_API dGeomID         (*dCreateSphere)(dSpaceID space, dReal radius);
+//ODE_API void            (*dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
+//ODE_API dReal           (*dGeomSphereGetRadius)(dGeomID sphere);
+//ODE_API dReal           (*dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
+//
+//ODE_API dGeomID         (*dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//ODE_API void            (*dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//
+ODE_API dGeomID         (*dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
+//ODE_API void            (*dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
+//ODE_API void            (*dGeomBoxGetLengths)(dGeomID box, dVector3 result);
+//ODE_API dReal           (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//ODE_API dReal           (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//
+//ODE_API dGeomID         (*dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+//ODE_API void            (*dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
+//ODE_API void            (*dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
+//ODE_API dReal           (*dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
+//
+ODE_API dGeomID         (*dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
+//ODE_API void            (*dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
+//ODE_API void            (*dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
+//ODE_API dReal           (*dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
+//
+//ODE_API dGeomID         (*dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
+//ODE_API void            (*dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
+//ODE_API void            (*dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
+//
+//ODE_API dGeomID         (*dCreateRay)(dSpaceID space, dReal length);
+//ODE_API void            (*dGeomRaySetLength)(dGeomID ray, dReal length);
+//ODE_API dReal           (*dGeomRayGetLength)(dGeomID ray);
+//ODE_API void            (*dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
+//ODE_API void            (*dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
+//
+ODE_API dGeomID         (*dCreateGeomTransform)(dSpaceID space);
+ODE_API void            (*dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
+//ODE_API dGeomID         (*dGeomTransformGetGeom)(dGeomID g);
+ODE_API void            (*dGeomTransformSetCleanup)(dGeomID g, int mode);
+//ODE_API int             (*dGeomTransformGetCleanup)(dGeomID g);
+//ODE_API void            (*dGeomTransformSetInfo)(dGeomID g, int mode);
+//ODE_API int             (*dGeomTransformGetInfo)(dGeomID g);
+
+enum { TRIMESH_FACE_NORMALS };
+typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
+typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
+typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
+typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
+
+ODE_API dTriMeshDataID  (*dGeomTriMeshDataCreate)(void);
+ODE_API void            (*dGeomTriMeshDataDestroy)(dTriMeshDataID g);
+//ODE_API void            (*dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
+//ODE_API void*           (*dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
+//ODE_API void            (*dGeomTriMeshSetLastTransform)( (*dGeomID g, dMatrix4 last_trans );
+//ODE_API dReal*          (*dGeomTriMeshGetLastTransform)( (*dGeomID g );
+ODE_API void            (*dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
+//ODE_API void            (*dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//ODE_API void            (*dGeomTriMeshDataBuildDouble)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
+//ODE_API void            (*dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//ODE_API void            (*dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
+//ODE_API void            (*dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
+//ODE_API void            (*dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
+//ODE_API void            (*dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
+//ODE_API void            (*dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
+//ODE_API void            (*dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
+//ODE_API dTriCallback*   (*dGeomTriMeshGetCallback)(dGeomID g);
+//ODE_API void            (*dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
+//ODE_API dTriArrayCallback* (*dGeomTriMeshGetArrayCallback)(dGeomID g);
+//ODE_API void            (*dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
+//ODE_API dTriRayCallback* (*dGeomTriMeshGetRayCallback)(dGeomID g);
+//ODE_API void            (*dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
+//ODE_API dTriTriMergeCallback* (*dGeomTriMeshGetTriMergeCallback)(dGeomID g);
+ODE_API dGeomID         (*dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+//ODE_API void            (*dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
+//ODE_API dTriMeshDataID  (*dGeomTriMeshGetData)(dGeomID g);
+//ODE_API void            (*dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
+//ODE_API int             (*dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
+//ODE_API void            (*dGeomTriMeshClearTCCache)(dGeomID g);
+//ODE_API dTriMeshDataID  (*dGeomTriMeshGetTriMeshDataID)(dGeomID g);
+//ODE_API void            (*dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+//ODE_API void            (*dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+//ODE_API int             (*dGeomTriMeshGetTriangleCount )(dGeomID g);
+//ODE_API void            (*dGeomTriMeshDataUpdate)(dTriMeshDataID g);
+
+static dllfunction_t odefuncs[] =
+{
+       {"dGetConfiguration",                                                   (void **) &dGetConfiguration},
+       {"dCheckConfiguration",                                                 (void **) &dCheckConfiguration},
+       {"dInitODE2",                                                                   (void **) &dInitODE2},
+       {"dAllocateODEDataForThread",                                   (void **) &dAllocateODEDataForThread},
+       {"dCleanupODEAllDataForThread",                                 (void **) &dCleanupODEAllDataForThread},
+       {"dCloseODE",                                                                   (void **) &dCloseODE},
+//     {"dMassCheck",                                                                  (void **) &dMassCheck},
+//     {"dMassSetZero",                                                                (void **) &dMassSetZero},
+//     {"dMassSetParameters",                                                  (void **) &dMassSetParameters},
+//     {"dMassSetSphere",                                                              (void **) &dMassSetSphere},
+       {"dMassSetSphereTotal",                                                 (void **) &dMassSetSphereTotal},
+//     {"dMassSetCapsule",                                                             (void **) &dMassSetCapsule},
+       {"dMassSetCapsuleTotal",                                                (void **) &dMassSetCapsuleTotal},
+//     {"dMassSetCylinder",                                                    (void **) &dMassSetCylinder},
+//     {"dMassSetCylinderTotal",                                               (void **) &dMassSetCylinderTotal},
+//     {"dMassSetBox",                                                                 (void **) &dMassSetBox},
+       {"dMassSetBoxTotal",                                                    (void **) &dMassSetBoxTotal},
+//     {"dMassSetTrimesh",                                                             (void **) &dMassSetTrimesh},
+//     {"dMassSetTrimeshTotal",                                                (void **) &dMassSetTrimeshTotal},
+//     {"dMassAdjust",                                                                 (void **) &dMassAdjust},
+//     {"dMassTranslate",                                                              (void **) &dMassTranslate},
+//     {"dMassRotate",                                                                 (void **) &dMassRotate},
+//     {"dMassAdd",                                                                    (void **) &dMassAdd},
+
+       {"dWorldCreate",                                                                (void **) &dWorldCreate},
+       {"dWorldDestroy",                                                               (void **) &dWorldDestroy},
+       {"dWorldSetGravity",                                                    (void **) &dWorldSetGravity},
+//     {"dWorldGetGravity",                                                    (void **) &dWorldGetGravity},
+//     {"dWorldSetERP",                                                                (void **) &dWorldSetERP},
+//     {"dWorldGetERP",                                                                (void **) &dWorldGetERP},
+//     {"dWorldSetCFM",                                                                (void **) &dWorldSetCFM},
+//     {"dWorldGetCFM",                                                                (void **) &dWorldGetCFM},
+       {"dWorldStep",                                                                  (void **) &dWorldStep},
+//     {"dWorldImpulseToForce",                                                (void **) &dWorldImpulseToForce},
+       {"dWorldQuickStep",                                                             (void **) &dWorldQuickStep},
+       {"dWorldSetQuickStepNumIterations",                             (void **) &dWorldSetQuickStepNumIterations},
+//     {"dWorldGetQuickStepNumIterations",                             (void **) &dWorldGetQuickStepNumIterations},
+//     {"dWorldSetQuickStepW",                                                 (void **) &dWorldSetQuickStepW},
+//     {"dWorldGetQuickStepW",                                                 (void **) &dWorldGetQuickStepW},
+//     {"dWorldSetContactMaxCorrectingVel",                    (void **) &dWorldSetContactMaxCorrectingVel},
+//     {"dWorldGetContactMaxCorrectingVel",                    (void **) &dWorldGetContactMaxCorrectingVel},
+       {"dWorldSetContactSurfaceLayer",                                (void **) &dWorldSetContactSurfaceLayer},
+//     {"dWorldGetContactSurfaceLayer",                                (void **) &dWorldGetContactSurfaceLayer},
+       {"dWorldStepFast1",                                                             (void **) &dWorldStepFast1},
+//     {"dWorldSetAutoEnableDepthSF1",                                 (void **) &dWorldSetAutoEnableDepthSF1},
+//     {"dWorldGetAutoEnableDepthSF1",                                 (void **) &dWorldGetAutoEnableDepthSF1},
+//     {"dWorldGetAutoDisableLinearThreshold",                 (void **) &dWorldGetAutoDisableLinearThreshold},
+//     {"dWorldSetAutoDisableLinearThreshold",                 (void **) &dWorldSetAutoDisableLinearThreshold},
+//     {"dWorldGetAutoDisableAngularThreshold",                (void **) &dWorldGetAutoDisableAngularThreshold},
+//     {"dWorldSetAutoDisableAngularThreshold",                (void **) &dWorldSetAutoDisableAngularThreshold},
+//     {"dWorldGetAutoDisableLinearAverageThreshold",  (void **) &dWorldGetAutoDisableLinearAverageThreshold},
+//     {"dWorldSetAutoDisableLinearAverageThreshold",  (void **) &dWorldSetAutoDisableLinearAverageThreshold},
+//     {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
+//     {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
+//     {"dWorldGetAutoDisableAverageSamplesCount",             (void **) &dWorldGetAutoDisableAverageSamplesCount},
+//     {"dWorldSetAutoDisableAverageSamplesCount",             (void **) &dWorldSetAutoDisableAverageSamplesCount},
+//     {"dWorldGetAutoDisableSteps",                                   (void **) &dWorldGetAutoDisableSteps},
+//     {"dWorldSetAutoDisableSteps",                                   (void **) &dWorldSetAutoDisableSteps},
+//     {"dWorldGetAutoDisableTime",                                    (void **) &dWorldGetAutoDisableTime},
+//     {"dWorldSetAutoDisableTime",                                    (void **) &dWorldSetAutoDisableTime},
+//     {"dWorldGetAutoDisableFlag",                                    (void **) &dWorldGetAutoDisableFlag},
+//     {"dWorldSetAutoDisableFlag",                                    (void **) &dWorldSetAutoDisableFlag},
+//     {"dWorldGetLinearDampingThreshold",                             (void **) &dWorldGetLinearDampingThreshold},
+//     {"dWorldSetLinearDampingThreshold",                             (void **) &dWorldSetLinearDampingThreshold},
+//     {"dWorldGetAngularDampingThreshold",                    (void **) &dWorldGetAngularDampingThreshold},
+//     {"dWorldSetAngularDampingThreshold",                    (void **) &dWorldSetAngularDampingThreshold},
+//     {"dWorldGetLinearDamping",                                              (void **) &dWorldGetLinearDamping},
+//     {"dWorldSetLinearDamping",                                              (void **) &dWorldSetLinearDamping},
+//     {"dWorldGetAngularDamping",                                             (void **) &dWorldGetAngularDamping},
+//     {"dWorldSetAngularDamping",                                             (void **) &dWorldSetAngularDamping},
+//     {"dWorldSetDamping",                                                    (void **) &dWorldSetDamping},
+//     {"dWorldGetMaxAngularSpeed",                                    (void **) &dWorldGetMaxAngularSpeed},
+//     {"dWorldSetMaxAngularSpeed",                                    (void **) &dWorldSetMaxAngularSpeed},
+//     {"dBodyGetAutoDisableLinearThreshold",                  (void **) &dBodyGetAutoDisableLinearThreshold},
+//     {"dBodySetAutoDisableLinearThreshold",                  (void **) &dBodySetAutoDisableLinearThreshold},
+//     {"dBodyGetAutoDisableAngularThreshold",                 (void **) &dBodyGetAutoDisableAngularThreshold},
+//     {"dBodySetAutoDisableAngularThreshold",                 (void **) &dBodySetAutoDisableAngularThreshold},
+//     {"dBodyGetAutoDisableAverageSamplesCount",              (void **) &dBodyGetAutoDisableAverageSamplesCount},
+//     {"dBodySetAutoDisableAverageSamplesCount",              (void **) &dBodySetAutoDisableAverageSamplesCount},
+//     {"dBodyGetAutoDisableSteps",                                    (void **) &dBodyGetAutoDisableSteps},
+//     {"dBodySetAutoDisableSteps",                                    (void **) &dBodySetAutoDisableSteps},
+//     {"dBodyGetAutoDisableTime",                                             (void **) &dBodyGetAutoDisableTime},
+//     {"dBodySetAutoDisableTime",                                             (void **) &dBodySetAutoDisableTime},
+//     {"dBodyGetAutoDisableFlag",                                             (void **) &dBodyGetAutoDisableFlag},
+//     {"dBodySetAutoDisableFlag",                                             (void **) &dBodySetAutoDisableFlag},
+//     {"dBodySetAutoDisableDefaults",                                 (void **) &dBodySetAutoDisableDefaults},
+//     {"dBodyGetWorld",                                                               (void **) &dBodyGetWorld},
+       {"dBodyCreate",                                                                 (void **) &dBodyCreate},
+       {"dBodyDestroy",                                                                (void **) &dBodyDestroy},
+       {"dBodySetData",                                                                (void **) &dBodySetData},
+//     {"dBodyGetData",                                                                (void **) &dBodyGetData},
+       {"dBodySetPosition",                                                    (void **) &dBodySetPosition},
+       {"dBodySetRotation",                                                    (void **) &dBodySetRotation},
+//     {"dBodySetQuaternion",                                                  (void **) &dBodySetQuaternion},
+       {"dBodySetLinearVel",                                                   (void **) &dBodySetLinearVel},
+       {"dBodySetAngularVel",                                                  (void **) &dBodySetAngularVel},
+       {"dBodyGetPosition",                                                    (void **) &dBodyGetPosition},
+//     {"dBodyCopyPosition",                                                   (void **) &dBodyCopyPosition},
+       {"dBodyGetRotation",                                                    (void **) &dBodyGetRotation},
+//     {"dBodyCopyRotation",                                                   (void **) &dBodyCopyRotation},
+//     {"dBodyGetQuaternion",                                                  (void **) &dBodyGetQuaternion},
+//     {"dBodyCopyQuaternion",                                                 (void **) &dBodyCopyQuaternion},
+       {"dBodyGetLinearVel",                                                   (void **) &dBodyGetLinearVel},
+       {"dBodyGetAngularVel",                                                  (void **) &dBodyGetAngularVel},
+       {"dBodySetMass",                                                                (void **) &dBodySetMass},
+//     {"dBodyGetMass",                                                                (void **) &dBodyGetMass},
+//     {"dBodyAddForce",                                                               (void **) &dBodyAddForce},
+//     {"dBodyAddTorque",                                                              (void **) &dBodyAddTorque},
+//     {"dBodyAddRelForce",                                                    (void **) &dBodyAddRelForce},
+//     {"dBodyAddRelTorque",                                                   (void **) &dBodyAddRelTorque},
+//     {"dBodyAddForceAtPos",                                                  (void **) &dBodyAddForceAtPos},
+//     {"dBodyAddForceAtRelPos",                                               (void **) &dBodyAddForceAtRelPos},
+//     {"dBodyAddRelForceAtPos",                                               (void **) &dBodyAddRelForceAtPos},
+//     {"dBodyAddRelForceAtRelPos",                                    (void **) &dBodyAddRelForceAtRelPos},
+//     {"dBodyGetForce",                                                               (void **) &dBodyGetForce},
+//     {"dBodyGetTorque",                                                              (void **) &dBodyGetTorque},
+//     {"dBodySetForce",                                                               (void **) &dBodySetForce},
+//     {"dBodySetTorque",                                                              (void **) &dBodySetTorque},
+//     {"dBodyGetRelPointPos",                                                 (void **) &dBodyGetRelPointPos},
+//     {"dBodyGetRelPointVel",                                                 (void **) &dBodyGetRelPointVel},
+//     {"dBodyGetPointVel",                                                    (void **) &dBodyGetPointVel},
+//     {"dBodyGetPosRelPoint",                                                 (void **) &dBodyGetPosRelPoint},
+//     {"dBodyVectorToWorld",                                                  (void **) &dBodyVectorToWorld},
+//     {"dBodyVectorFromWorld",                                                (void **) &dBodyVectorFromWorld},
+//     {"dBodySetFiniteRotationMode",                                  (void **) &dBodySetFiniteRotationMode},
+//     {"dBodySetFiniteRotationAxis",                                  (void **) &dBodySetFiniteRotationAxis},
+//     {"dBodyGetFiniteRotationMode",                                  (void **) &dBodyGetFiniteRotationMode},
+//     {"dBodyGetFiniteRotationAxis",                                  (void **) &dBodyGetFiniteRotationAxis},
+//     {"dBodyGetNumJoints",                                                   (void **) &dBodyGetNumJoints},
+//     {"dBodyGetJoint",                                                               (void **) &dBodyGetJoint},
+//     {"dBodySetDynamic",                                                             (void **) &dBodySetDynamic},
+//     {"dBodySetKinematic",                                                   (void **) &dBodySetKinematic},
+//     {"dBodyIsKinematic",                                                    (void **) &dBodyIsKinematic},
+//     {"dBodyEnable",                                                                 (void **) &dBodyEnable},
+//     {"dBodyDisable",                                                                (void **) &dBodyDisable},
+//     {"dBodyIsEnabled",                                                              (void **) &dBodyIsEnabled},
+//     {"dBodySetGravityMode",                                                 (void **) &dBodySetGravityMode},
+//     {"dBodyGetGravityMode",                                                 (void **) &dBodyGetGravityMode},
+//     {"dBodySetMovedCallback",                                               (void **) &dBodySetMovedCallback},
+//     {"dBodyGetFirstGeom",                                                   (void **) &dBodyGetFirstGeom},
+//     {"dBodyGetNextGeom",                                                    (void **) &dBodyGetNextGeom},
+//     {"dBodySetDampingDefaults",                                             (void **) &dBodySetDampingDefaults},
+//     {"dBodyGetLinearDamping",                                               (void **) &dBodyGetLinearDamping},
+//     {"dBodySetLinearDamping",                                               (void **) &dBodySetLinearDamping},
+//     {"dBodyGetAngularDamping",                                              (void **) &dBodyGetAngularDamping},
+//     {"dBodySetAngularDamping",                                              (void **) &dBodySetAngularDamping},
+//     {"dBodySetDamping",                                                             (void **) &dBodySetDamping},
+//     {"dBodyGetLinearDampingThreshold",                              (void **) &dBodyGetLinearDampingThreshold},
+//     {"dBodySetLinearDampingThreshold",                              (void **) &dBodySetLinearDampingThreshold},
+//     {"dBodyGetAngularDampingThreshold",                             (void **) &dBodyGetAngularDampingThreshold},
+//     {"dBodySetAngularDampingThreshold",                             (void **) &dBodySetAngularDampingThreshold},
+//     {"dBodyGetMaxAngularSpeed",                                             (void **) &dBodyGetMaxAngularSpeed},
+//     {"dBodySetMaxAngularSpeed",                                             (void **) &dBodySetMaxAngularSpeed},
+//     {"dBodyGetGyroscopicMode",                                              (void **) &dBodyGetGyroscopicMode},
+//     {"dBodySetGyroscopicMode",                                              (void **) &dBodySetGyroscopicMode},
+//     {"dJointCreateBall",                                                    (void **) &dJointCreateBall},
+//     {"dJointCreateHinge",                                                   (void **) &dJointCreateHinge},
+//     {"dJointCreateSlider",                                                  (void **) &dJointCreateSlider},
+       {"dJointCreateContact",                                                 (void **) &dJointCreateContact},
+//     {"dJointCreateHinge2",                                                  (void **) &dJointCreateHinge2},
+//     {"dJointCreateUniversal",                                               (void **) &dJointCreateUniversal},
+//     {"dJointCreatePR",                                                              (void **) &dJointCreatePR},
+//     {"dJointCreatePU",                                                              (void **) &dJointCreatePU},
+//     {"dJointCreatePiston",                                                  (void **) &dJointCreatePiston},
+//     {"dJointCreateFixed",                                                   (void **) &dJointCreateFixed},
+//     {"dJointCreateNull",                                                    (void **) &dJointCreateNull},
+//     {"dJointCreateAMotor",                                                  (void **) &dJointCreateAMotor},
+//     {"dJointCreateLMotor",                                                  (void **) &dJointCreateLMotor},
+//     {"dJointCreatePlane2D",                                                 (void **) &dJointCreatePlane2D},
+//     {"dJointDestroy",                                                               (void **) &dJointDestroy},
+       {"dJointGroupCreate",                                                   (void **) &dJointGroupCreate},
+       {"dJointGroupDestroy",                                                  (void **) &dJointGroupDestroy},
+       {"dJointGroupEmpty",                                                    (void **) &dJointGroupEmpty},
+//     {"dJointGetNumBodies",                                                  (void **) &dJointGetNumBodies},
+       {"dJointAttach",                                                                (void **) &dJointAttach},
+//     {"dJointEnable",                                                                (void **) &dJointEnable},
+//     {"dJointDisable",                                                               (void **) &dJointDisable},
+//     {"dJointIsEnabled",                                                             (void **) &dJointIsEnabled},
+//     {"dJointSetData",                                                               (void **) &dJointSetData},
+//     {"dJointGetData",                                                               (void **) &dJointGetData},
+//     {"dJointGetType",                                                               (void **) &dJointGetType},
+//     {"dJointGetBody",                                                               (void **) &dJointGetBody},
+//     {"dJointSetFeedback",                                                   (void **) &dJointSetFeedback},
+//     {"dJointGetFeedback",                                                   (void **) &dJointGetFeedback},
+//     {"dJointSetBallAnchor",                                                 (void **) &dJointSetBallAnchor},
+//     {"dJointSetBallAnchor2",                                                (void **) &dJointSetBallAnchor2},
+//     {"dJointSetBallParam",                                                  (void **) &dJointSetBallParam},
+//     {"dJointSetHingeAnchor",                                                (void **) &dJointSetHingeAnchor},
+//     {"dJointSetHingeAnchorDelta",                                   (void **) &dJointSetHingeAnchorDelta},
+//     {"dJointSetHingeAxis",                                                  (void **) &dJointSetHingeAxis},
+//     {"dJointSetHingeAxisOffset",                                    (void **) &dJointSetHingeAxisOffset},
+//     {"dJointSetHingeParam",                                                 (void **) &dJointSetHingeParam},
+//     {"dJointAddHingeTorque",                                                (void **) &dJointAddHingeTorque},
+//     {"dJointSetSliderAxis",                                                 (void **) &dJointSetSliderAxis},
+//     {"dJointSetSliderAxisDelta",                                    (void **) &dJointSetSliderAxisDelta},
+//     {"dJointSetSliderParam",                                                (void **) &dJointSetSliderParam},
+//     {"dJointAddSliderForce",                                                (void **) &dJointAddSliderForce},
+//     {"dJointSetHinge2Anchor",                                               (void **) &dJointSetHinge2Anchor},
+//     {"dJointSetHinge2Axis1",                                                (void **) &dJointSetHinge2Axis1},
+//     {"dJointSetHinge2Axis2",                                                (void **) &dJointSetHinge2Axis2},
+//     {"dJointSetHinge2Param",                                                (void **) &dJointSetHinge2Param},
+//     {"dJointAddHinge2Torques",                                              (void **) &dJointAddHinge2Torques},
+//     {"dJointSetUniversalAnchor",                                    (void **) &dJointSetUniversalAnchor},
+//     {"dJointSetUniversalAxis1",                                             (void **) &dJointSetUniversalAxis1},
+//     {"dJointSetUniversalAxis1Offset",                               (void **) &dJointSetUniversalAxis1Offset},
+//     {"dJointSetUniversalAxis2",                                             (void **) &dJointSetUniversalAxis2},
+//     {"dJointSetUniversalAxis2Offset",                               (void **) &dJointSetUniversalAxis2Offset},
+//     {"dJointSetUniversalParam",                                             (void **) &dJointSetUniversalParam},
+//     {"dJointAddUniversalTorques",                                   (void **) &dJointAddUniversalTorques},
+//     {"dJointSetPRAnchor",                                                   (void **) &dJointSetPRAnchor},
+//     {"dJointSetPRAxis1",                                                    (void **) &dJointSetPRAxis1},
+//     {"dJointSetPRAxis2",                                                    (void **) &dJointSetPRAxis2},
+//     {"dJointSetPRParam",                                                    (void **) &dJointSetPRParam},
+//     {"dJointAddPRTorque",                                                   (void **) &dJointAddPRTorque},
+//     {"dJointSetPUAnchor",                                                   (void **) &dJointSetPUAnchor},
+//     {"dJointSetPUAnchorOffset",                                             (void **) &dJointSetPUAnchorOffset},
+//     {"dJointSetPUAxis1",                                                    (void **) &dJointSetPUAxis1},
+//     {"dJointSetPUAxis2",                                                    (void **) &dJointSetPUAxis2},
+//     {"dJointSetPUAxis3",                                                    (void **) &dJointSetPUAxis3},
+//     {"dJointSetPUAxisP",                                                    (void **) &dJointSetPUAxisP},
+//     {"dJointSetPUParam",                                                    (void **) &dJointSetPUParam},
+//     {"dJointAddPUTorque",                                                   (void **) &dJointAddPUTorque},
+//     {"dJointSetPistonAnchor",                                               (void **) &dJointSetPistonAnchor},
+//     {"dJointSetPistonAnchorOffset",                                 (void **) &dJointSetPistonAnchorOffset},
+//     {"dJointSetPistonParam",                                                (void **) &dJointSetPistonParam},
+//     {"dJointAddPistonForce",                                                (void **) &dJointAddPistonForce},
+//     {"dJointSetFixed",                                                              (void **) &dJointSetFixed},
+//     {"dJointSetFixedParam",                                                 (void **) &dJointSetFixedParam},
+//     {"dJointSetAMotorNumAxes",                                              (void **) &dJointSetAMotorNumAxes},
+//     {"dJointSetAMotorAxis",                                                 (void **) &dJointSetAMotorAxis},
+//     {"dJointSetAMotorAngle",                                                (void **) &dJointSetAMotorAngle},
+//     {"dJointSetAMotorParam",                                                (void **) &dJointSetAMotorParam},
+//     {"dJointSetAMotorMode",                                                 (void **) &dJointSetAMotorMode},
+//     {"dJointAddAMotorTorques",                                              (void **) &dJointAddAMotorTorques},
+//     {"dJointSetLMotorNumAxes",                                              (void **) &dJointSetLMotorNumAxes},
+//     {"dJointSetLMotorAxis",                                                 (void **) &dJointSetLMotorAxis},
+//     {"dJointSetLMotorParam",                                                (void **) &dJointSetLMotorParam},
+//     {"dJointSetPlane2DXParam",                                              (void **) &dJointSetPlane2DXParam},
+//     {"dJointSetPlane2DYParam",                                              (void **) &dJointSetPlane2DYParam},
+//     {"dJointSetPlane2DAngleParam",                                  (void **) &dJointSetPlane2DAngleParam},
+//     {"dJointGetBallAnchor",                                                 (void **) &dJointGetBallAnchor},
+//     {"dJointGetBallAnchor2",                                                (void **) &dJointGetBallAnchor2},
+//     {"dJointGetBallParam",                                                  (void **) &dJointGetBallParam},
+//     {"dJointGetHingeAnchor",                                                (void **) &dJointGetHingeAnchor},
+//     {"dJointGetHingeAnchor2",                                               (void **) &dJointGetHingeAnchor2},
+//     {"dJointGetHingeAxis",                                                  (void **) &dJointGetHingeAxis},
+//     {"dJointGetHingeParam",                                                 (void **) &dJointGetHingeParam},
+//     {"dJointGetHingeAngle",                                                 (void **) &dJointGetHingeAngle},
+//     {"dJointGetHingeAngleRate",                                             (void **) &dJointGetHingeAngleRate},
+//     {"dJointGetSliderPosition",                                             (void **) &dJointGetSliderPosition},
+//     {"dJointGetSliderPositionRate",                                 (void **) &dJointGetSliderPositionRate},
+//     {"dJointGetSliderAxis",                                                 (void **) &dJointGetSliderAxis},
+//     {"dJointGetSliderParam",                                                (void **) &dJointGetSliderParam},
+//     {"dJointGetHinge2Anchor",                                               (void **) &dJointGetHinge2Anchor},
+//     {"dJointGetHinge2Anchor2",                                              (void **) &dJointGetHinge2Anchor2},
+//     {"dJointGetHinge2Axis1",                                                (void **) &dJointGetHinge2Axis1},
+//     {"dJointGetHinge2Axis2",                                                (void **) &dJointGetHinge2Axis2},
+//     {"dJointGetHinge2Param",                                                (void **) &dJointGetHinge2Param},
+//     {"dJointGetHinge2Angle1",                                               (void **) &dJointGetHinge2Angle1},
+//     {"dJointGetHinge2Angle1Rate",                                   (void **) &dJointGetHinge2Angle1Rate},
+//     {"dJointGetHinge2Angle2Rate",                                   (void **) &dJointGetHinge2Angle2Rate},
+//     {"dJointGetUniversalAnchor",                                    (void **) &dJointGetUniversalAnchor},
+//     {"dJointGetUniversalAnchor2",                                   (void **) &dJointGetUniversalAnchor2},
+//     {"dJointGetUniversalAxis1",                                             (void **) &dJointGetUniversalAxis1},
+//     {"dJointGetUniversalAxis2",                                             (void **) &dJointGetUniversalAxis2},
+//     {"dJointGetUniversalParam",                                             (void **) &dJointGetUniversalParam},
+//     {"dJointGetUniversalAngles",                                    (void **) &dJointGetUniversalAngles},
+//     {"dJointGetUniversalAngle1",                                    (void **) &dJointGetUniversalAngle1},
+//     {"dJointGetUniversalAngle2",                                    (void **) &dJointGetUniversalAngle2},
+//     {"dJointGetUniversalAngle1Rate",                                (void **) &dJointGetUniversalAngle1Rate},
+//     {"dJointGetUniversalAngle2Rate",                                (void **) &dJointGetUniversalAngle2Rate},
+//     {"dJointGetPRAnchor",                                                   (void **) &dJointGetPRAnchor},
+//     {"dJointGetPRPosition",                                                 (void **) &dJointGetPRPosition},
+//     {"dJointGetPRPositionRate",                                             (void **) &dJointGetPRPositionRate},
+//     {"dJointGetPRAngle",                                                    (void **) &dJointGetPRAngle},
+//     {"dJointGetPRAngleRate",                                                (void **) &dJointGetPRAngleRate},
+//     {"dJointGetPRAxis1",                                                    (void **) &dJointGetPRAxis1},
+//     {"dJointGetPRAxis2",                                                    (void **) &dJointGetPRAxis2},
+//     {"dJointGetPRParam",                                                    (void **) &dJointGetPRParam},
+//     {"dJointGetPUAnchor",                                                   (void **) &dJointGetPUAnchor},
+//     {"dJointGetPUPosition",                                                 (void **) &dJointGetPUPosition},
+//     {"dJointGetPUPositionRate",                                             (void **) &dJointGetPUPositionRate},
+//     {"dJointGetPUAxis1",                                                    (void **) &dJointGetPUAxis1},
+//     {"dJointGetPUAxis2",                                                    (void **) &dJointGetPUAxis2},
+//     {"dJointGetPUAxis3",                                                    (void **) &dJointGetPUAxis3},
+//     {"dJointGetPUAxisP",                                                    (void **) &dJointGetPUAxisP},
+//     {"dJointGetPUAngles",                                                   (void **) &dJointGetPUAngles},
+//     {"dJointGetPUAngle1",                                                   (void **) &dJointGetPUAngle1},
+//     {"dJointGetPUAngle1Rate",                                               (void **) &dJointGetPUAngle1Rate},
+//     {"dJointGetPUAngle2",                                                   (void **) &dJointGetPUAngle2},
+//     {"dJointGetPUAngle2Rate",                                               (void **) &dJointGetPUAngle2Rate},
+//     {"dJointGetPUParam",                                                    (void **) &dJointGetPUParam},
+//     {"dJointGetPistonPosition",                                             (void **) &dJointGetPistonPosition},
+//     {"dJointGetPistonPositionRate",                                 (void **) &dJointGetPistonPositionRate},
+//     {"dJointGetPistonAngle",                                                (void **) &dJointGetPistonAngle},
+//     {"dJointGetPistonAngleRate",                                    (void **) &dJointGetPistonAngleRate},
+//     {"dJointGetPistonAnchor",                                               (void **) &dJointGetPistonAnchor},
+//     {"dJointGetPistonAnchor2",                                              (void **) &dJointGetPistonAnchor2},
+//     {"dJointGetPistonAxis",                                                 (void **) &dJointGetPistonAxis},
+//     {"dJointGetPistonParam",                                                (void **) &dJointGetPistonParam},
+//     {"dJointGetAMotorNumAxes",                                              (void **) &dJointGetAMotorNumAxes},
+//     {"dJointGetAMotorAxis",                                                 (void **) &dJointGetAMotorAxis},
+//     {"dJointGetAMotorAxisRel",                                              (void **) &dJointGetAMotorAxisRel},
+//     {"dJointGetAMotorAngle",                                                (void **) &dJointGetAMotorAngle},
+//     {"dJointGetAMotorAngleRate",                                    (void **) &dJointGetAMotorAngleRate},
+//     {"dJointGetAMotorParam",                                                (void **) &dJointGetAMotorParam},
+//     {"dJointGetAMotorMode",                                                 (void **) &dJointGetAMotorMode},
+//     {"dJointGetLMotorNumAxes",                                              (void **) &dJointGetLMotorNumAxes},
+//     {"dJointGetLMotorAxis",                                                 (void **) &dJointGetLMotorAxis},
+//     {"dJointGetLMotorParam",                                                (void **) &dJointGetLMotorParam},
+//     {"dJointGetFixedParam",                                                 (void **) &dJointGetFixedParam},
+//     {"dConnectingJoint",                                                    (void **) &dConnectingJoint},
+//     {"dConnectingJointList",                                                (void **) &dConnectingJointList},
+       {"dAreConnected",                                                               (void **) &dAreConnected},
+       {"dAreConnectedExcluding",                                              (void **) &dAreConnectedExcluding},
+       {"dSimpleSpaceCreate",                                                  (void **) &dSimpleSpaceCreate},
+       {"dHashSpaceCreate",                                                    (void **) &dHashSpaceCreate},
+       {"dQuadTreeSpaceCreate",                                                (void **) &dQuadTreeSpaceCreate},
+       {"dSweepAndPruneSpaceCreate",                                   (void **) &dSweepAndPruneSpaceCreate},
+       {"dSpaceDestroy",                                                               (void **) &dSpaceDestroy},
+//     {"dHashSpaceSetLevels",                                                 (void **) &dHashSpaceSetLevels},
+//     {"dHashSpaceGetLevels",                                                 (void **) &dHashSpaceGetLevels},
+//     {"dSpaceSetCleanup",                                                    (void **) &dSpaceSetCleanup},
+//     {"dSpaceGetCleanup",                                                    (void **) &dSpaceGetCleanup},
+//     {"dSpaceSetSublevel",                                                   (void **) &dSpaceSetSublevel},
+//     {"dSpaceGetSublevel",                                                   (void **) &dSpaceGetSublevel},
+//     {"dSpaceSetManualCleanup",                                              (void **) &dSpaceSetManualCleanup},
+//     {"dSpaceGetManualCleanup",                                              (void **) &dSpaceGetManualCleanup},
+//     {"dSpaceAdd",                                                                   (void **) &dSpaceAdd},
+//     {"dSpaceRemove",                                                                (void **) &dSpaceRemove},
+//     {"dSpaceQuery",                                                                 (void **) &dSpaceQuery},
+//     {"dSpaceClean",                                                                 (void **) &dSpaceClean},
+//     {"dSpaceGetNumGeoms",                                                   (void **) &dSpaceGetNumGeoms},
+//     {"dSpaceGetGeom",                                                               (void **) &dSpaceGetGeom},
+//     {"dSpaceGetClass",                                                              (void **) &dSpaceGetClass},
+       {"dGeomDestroy",                                                                (void **) &dGeomDestroy},
+//     {"dGeomSetData",                                                                (void **) &dGeomSetData},
+//     {"dGeomGetData",                                                                (void **) &dGeomGetData},
+       {"dGeomSetBody",                                                                (void **) &dGeomSetBody},
+       {"dGeomGetBody",                                                                (void **) &dGeomGetBody},
+//     {"dGeomSetPosition",                                                    (void **) &dGeomSetPosition},
+       {"dGeomSetRotation",                                                    (void **) &dGeomSetRotation},
+//     {"dGeomSetQuaternion",                                                  (void **) &dGeomSetQuaternion},
+//     {"dGeomGetPosition",                                                    (void **) &dGeomGetPosition},
+//     {"dGeomCopyPosition",                                                   (void **) &dGeomCopyPosition},
+//     {"dGeomGetRotation",                                                    (void **) &dGeomGetRotation},
+//     {"dGeomCopyRotation",                                                   (void **) &dGeomCopyRotation},
+//     {"dGeomGetQuaternion",                                                  (void **) &dGeomGetQuaternion},
+//     {"dGeomGetAABB",                                                                (void **) &dGeomGetAABB},
+       {"dGeomIsSpace",                                                                (void **) &dGeomIsSpace},
+//     {"dGeomGetSpace",                                                               (void **) &dGeomGetSpace},
+//     {"dGeomGetClass",                                                               (void **) &dGeomGetClass},
+//     {"dGeomSetCategoryBits",                                                (void **) &dGeomSetCategoryBits},
+//     {"dGeomSetCollideBits",                                                 (void **) &dGeomSetCollideBits},
+//     {"dGeomGetCategoryBits",                                                (void **) &dGeomGetCategoryBits},
+//     {"dGeomGetCollideBits",                                                 (void **) &dGeomGetCollideBits},
+//     {"dGeomEnable",                                                                 (void **) &dGeomEnable},
+//     {"dGeomDisable",                                                                (void **) &dGeomDisable},
+//     {"dGeomIsEnabled",                                                              (void **) &dGeomIsEnabled},
+//     {"dGeomSetOffsetPosition",                                              (void **) &dGeomSetOffsetPosition},
+//     {"dGeomSetOffsetRotation",                                              (void **) &dGeomSetOffsetRotation},
+//     {"dGeomSetOffsetQuaternion",                                    (void **) &dGeomSetOffsetQuaternion},
+//     {"dGeomSetOffsetWorldPosition",                                 (void **) &dGeomSetOffsetWorldPosition},
+//     {"dGeomSetOffsetWorldRotation",                                 (void **) &dGeomSetOffsetWorldRotation},
+//     {"dGeomSetOffsetWorldQuaternion",                               (void **) &dGeomSetOffsetWorldQuaternion},
+//     {"dGeomClearOffset",                                                    (void **) &dGeomClearOffset},
+//     {"dGeomIsOffset",                                                               (void **) &dGeomIsOffset},
+//     {"dGeomGetOffsetPosition",                                              (void **) &dGeomGetOffsetPosition},
+//     {"dGeomCopyOffsetPosition",                                             (void **) &dGeomCopyOffsetPosition},
+//     {"dGeomGetOffsetRotation",                                              (void **) &dGeomGetOffsetRotation},
+//     {"dGeomCopyOffsetRotation",                                             (void **) &dGeomCopyOffsetRotation},
+//     {"dGeomGetOffsetQuaternion",                                    (void **) &dGeomGetOffsetQuaternion},
+       {"dCollide",                                                                    (void **) &dCollide},
+       {"dSpaceCollide",                                                               (void **) &dSpaceCollide},
+       {"dSpaceCollide2",                                                              (void **) &dSpaceCollide2},
+       {"dCreateSphere",                                                               (void **) &dCreateSphere},
+//     {"dGeomSphereSetRadius",                                                (void **) &dGeomSphereSetRadius},
+//     {"dGeomSphereGetRadius",                                                (void **) &dGeomSphereGetRadius},
+//     {"dGeomSpherePointDepth",                                               (void **) &dGeomSpherePointDepth},
+//     {"dCreateConvex",                                                               (void **) &dCreateConvex},
+//     {"dGeomSetConvex",                                                              (void **) &dGeomSetConvex},
+       {"dCreateBox",                                                                  (void **) &dCreateBox},
+//     {"dGeomBoxSetLengths",                                                  (void **) &dGeomBoxSetLengths},
+//     {"dGeomBoxGetLengths",                                                  (void **) &dGeomBoxGetLengths},
+//     {"dGeomBoxPointDepth",                                                  (void **) &dGeomBoxPointDepth},
+//     {"dGeomBoxPointDepth",                                                  (void **) &dGeomBoxPointDepth},
+//     {"dCreatePlane",                                                                (void **) &dCreatePlane},
+//     {"dGeomPlaneSetParams",                                                 (void **) &dGeomPlaneSetParams},
+//     {"dGeomPlaneGetParams",                                                 (void **) &dGeomPlaneGetParams},
+//     {"dGeomPlanePointDepth",                                                (void **) &dGeomPlanePointDepth},
+       {"dCreateCapsule",                                                              (void **) &dCreateCapsule},
+//     {"dGeomCapsuleSetParams",                                               (void **) &dGeomCapsuleSetParams},
+//     {"dGeomCapsuleGetParams",                                               (void **) &dGeomCapsuleGetParams},
+//     {"dGeomCapsulePointDepth",                                              (void **) &dGeomCapsulePointDepth},
+//     {"dCreateCylinder",                                                             (void **) &dCreateCylinder},
+//     {"dGeomCylinderSetParams",                                              (void **) &dGeomCylinderSetParams},
+//     {"dGeomCylinderGetParams",                                              (void **) &dGeomCylinderGetParams},
+//     {"dCreateRay",                                                                  (void **) &dCreateRay},
+//     {"dGeomRaySetLength",                                                   (void **) &dGeomRaySetLength},
+//     {"dGeomRayGetLength",                                                   (void **) &dGeomRayGetLength},
+//     {"dGeomRaySet",                                                                 (void **) &dGeomRaySet},
+//     {"dGeomRayGet",                                                                 (void **) &dGeomRayGet},
+       {"dCreateGeomTransform",                                                (void **) &dCreateGeomTransform},
+       {"dGeomTransformSetGeom",                                               (void **) &dGeomTransformSetGeom},
+//     {"dGeomTransformGetGeom",                                               (void **) &dGeomTransformGetGeom},
+       {"dGeomTransformSetCleanup",                                    (void **) &dGeomTransformSetCleanup},
+//     {"dGeomTransformGetCleanup",                                    (void **) &dGeomTransformGetCleanup},
+//     {"dGeomTransformSetInfo",                                               (void **) &dGeomTransformSetInfo},
+//     {"dGeomTransformGetInfo",                                               (void **) &dGeomTransformGetInfo},
+       {"dGeomTriMeshDataCreate",                      (void **) &dGeomTriMeshDataCreate},
+       {"dGeomTriMeshDataDestroy",                     (void **) &dGeomTriMeshDataDestroy},
+//     {"dGeomTriMeshDataSet",                         (void **) &dGeomTriMeshDataSet},
+//     {"dGeomTriMeshDataGet",                         (void **) &dGeomTriMeshDataGet},
+//     {"dGeomTriMeshSetLastTransform",                (void **) &dGeomTriMeshSetLastTransform},
+//     {"dGeomTriMeshGetLastTransform",                (void **) &dGeomTriMeshGetLastTransform},
+       {"dGeomTriMeshDataBuildSingle",                 (void **) &dGeomTriMeshDataBuildSingle},
+//     {"dGeomTriMeshDataBuildSingle1",                (void **) &dGeomTriMeshDataBuildSingle1},
+//     {"dGeomTriMeshDataBuildDouble",                 (void **) &dGeomTriMeshDataBuildDouble},
+//     {"dGeomTriMeshDataBuildDouble1",                (void **) &dGeomTriMeshDataBuildDouble1},
+//     {"dGeomTriMeshDataBuildSimple",                 (void **) &dGeomTriMeshDataBuildSimple},
+//     {"dGeomTriMeshDataBuildSimple1",                (void **) &dGeomTriMeshDataBuildSimple1},
+//     {"dGeomTriMeshDataPreprocess",                  (void **) &dGeomTriMeshDataPreprocess},
+//     {"dGeomTriMeshDataGetBuffer",                   (void **) &dGeomTriMeshDataGetBuffer},
+//     {"dGeomTriMeshDataSetBuffer",                   (void **) &dGeomTriMeshDataSetBuffer},
+//     {"dGeomTriMeshSetCallback",                     (void **) &dGeomTriMeshSetCallback},
+//     {"dGeomTriMeshGetCallback",                     (void **) &dGeomTriMeshGetCallback},
+//     {"dGeomTriMeshSetArrayCallback",                (void **) &dGeomTriMeshSetArrayCallback},
+//     {"dGeomTriMeshGetArrayCallback",                (void **) &dGeomTriMeshGetArrayCallback},
+//     {"dGeomTriMeshSetRayCallback",                  (void **) &dGeomTriMeshSetRayCallback},
+//     {"dGeomTriMeshGetRayCallback",                  (void **) &dGeomTriMeshGetRayCallback},
+//     {"dGeomTriMeshSetTriMergeCallback",             (void **) &dGeomTriMeshSetTriMergeCallback},
+//     {"dGeomTriMeshGetTriMergeCallback",             (void **) &dGeomTriMeshGetTriMergeCallback},
+       {"dCreateTriMesh",                              (void **) &dCreateTriMesh},
+//     {"dGeomTriMeshSetData",                         (void **) &dGeomTriMeshSetData},
+//     {"dGeomTriMeshGetData",                         (void **) &dGeomTriMeshGetData},
+//     {"dGeomTriMeshEnableTC",                        (void **) &dGeomTriMeshEnableTC},
+//     {"dGeomTriMeshIsTCEnabled",                     (void **) &dGeomTriMeshIsTCEnabled},
+//     {"dGeomTriMeshClearTCCache",                    (void **) &dGeomTriMeshClearTCCache},
+//     {"dGeomTriMeshGetTriMeshDataID",                (void **) &dGeomTriMeshGetTriMeshDataID},
+//     {"dGeomTriMeshGetTriangle",                     (void **) &dGeomTriMeshGetTriangle},
+//     {"dGeomTriMeshGetPoint",                        (void **) &dGeomTriMeshGetPoint},
+//     {"dGeomTriMeshGetTriangleCount",                (void **) &dGeomTriMeshGetTriangleCount},
+//     {"dGeomTriMeshDataUpdate",                      (void **) &dGeomTriMeshDataUpdate},
+       {NULL, NULL}
+};
+
+// Handle for ODE DLL
+dllhandle_t ode_dll = NULL;
+#endif
+#endif
+
+static void World_Physics_Init(void)
+{
+#ifdef USEODE
+#ifndef ODE_STATIC
+       const char* dllnames [] =
+       {
+# if defined(WIN64)
+               "libode1_64.dll",
+# elif defined(WIN32)
+               "libode1.dll",
+# elif defined(MACOSX)
+               "libode.1.dylib",
+# else
+               "libode.so.1",
+# endif
+               NULL
+       };
+#endif
+
+       Cvar_RegisterVariable(&physics_ode_quadtree_depth);
+       Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
+       Cvar_RegisterVariable(&physics_ode_worldquickstep);
+       Cvar_RegisterVariable(&physics_ode_worldquickstep_iterations);
+       Cvar_RegisterVariable(&physics_ode_worldstepfast);
+       Cvar_RegisterVariable(&physics_ode_worldstepfast_iterations);
+       Cvar_RegisterVariable(&physics_ode_contact_mu);
+       Cvar_RegisterVariable(&physics_ode_contact_erp);
+       Cvar_RegisterVariable(&physics_ode_contact_cfm);
+       Cvar_RegisterVariable(&physics_ode_iterationsperframe);
+       Cvar_RegisterVariable(&physics_ode_movelimit);
+       Cvar_RegisterVariable(&physics_ode_spinlimit);
+
+#ifndef ODE_STATIC
+       // Load the DLL
+       if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
+#endif
+       {
+               dInitODE2(0);
+#ifndef ODE_STATIC
+# ifdef dSINGLE
+               if (!dCheckConfiguration("ODE_single_precision"))
+# else
+               if (!dCheckConfiguration("ODE_double_precision"))
+# endif
+               {
+# ifdef dSINGLE
+                       Con_Printf("ode library not compiled for single precision - incompatible!  Not using ODE physics.\n");
+# else
+                       Con_Printf("ode library not compiled for double precision - incompatible!  Not using ODE physics.\n");
+# endif
+                       Sys_UnloadLibrary(ode_dll);
+                       ode_dll = NULL;
+               }
+#endif
+       }
+#endif
+}
+
+static void World_Physics_Shutdown(void)
+{
+#ifdef USEODE
+#ifndef ODE_STATIC
+       if (ode_dll)
+#endif
+       {
+               dCloseODE();
+#ifndef ODE_STATIC
+               Sys_UnloadLibrary(ode_dll);
+               ode_dll = NULL;
+#endif
+       }
+#endif
+}
+
+#ifdef USEODE
+static void World_Physics_EnableODE(world_t *world)
+{
+       dVector3 center, extents;
+       if (world->physics.ode)
+               return;
+#ifndef ODE_STATIC
+       if (!ode_dll)
+               return;
+#endif
+       world->physics.ode = true;
+       VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
+       VectorSubtract(world->maxs, center, extents);
+       world->physics.ode_world = dWorldCreate();
+       world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
+       world->physics.ode_contactgroup = dJointGroupCreate(0);
+       // we don't currently set dWorldSetCFM or dWorldSetERP because the defaults seem fine
+}
+#endif
+
+static void World_Physics_Start(world_t *world)
+{
+#ifdef USEODE
+       if (world->physics.ode)
+               return;
+       World_Physics_EnableODE(world);
+#endif
+}
+
+static void World_Physics_End(world_t *world)
+{
+#ifdef USEODE
+       if (world->physics.ode)
+       {
+               dWorldDestroy(world->physics.ode_world);
+               dSpaceDestroy(world->physics.ode_space);
+               dJointGroupDestroy(world->physics.ode_contactgroup);
+               world->physics.ode = false;
+       }
+#endif
+}
+
+void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
+{
+#ifdef USEODE
+       // entity is not physics controlled, free any physics data
+       ed->priv.server->ode_physics = false;
+       if (ed->priv.server->ode_geom)
+               dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
+       ed->priv.server->ode_geom = NULL;
+       if (ed->priv.server->ode_body)
+               dBodyDestroy((dBodyID)ed->priv.server->ode_body);
+       ed->priv.server->ode_body = NULL;
+       if (ed->priv.server->ode_vertex3f)
+               Mem_Free(ed->priv.server->ode_vertex3f);
+       ed->priv.server->ode_vertex3f = NULL;
+       ed->priv.server->ode_numvertices = 0;
+       if (ed->priv.server->ode_element3i)
+               Mem_Free(ed->priv.server->ode_element3i);
+       ed->priv.server->ode_element3i = NULL;
+       ed->priv.server->ode_numtriangles = 0;
+#endif
+}
+
+#ifdef USEODE
+static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
+{
+       const dReal *avel;
+       const dReal *o;
+       const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
+       const dReal *vel;
+       dBodyID body = (dBodyID)ed->priv.server->ode_body;
+       int movetype;
+       matrix4x4_t bodymatrix;
+       matrix4x4_t entitymatrix;
+       prvm_eval_t *val;
+       vec3_t forward, left, up;
+       vec3_t origin;
+       vec3_t spinvelocity;
+       vec3_t velocity;
+       if (!body)
+               return;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
+       movetype = (int)val->_float;
+       if (movetype != MOVETYPE_PHYSICS)
+               return;
+       // store the physics engine data into the entity
+       o = dBodyGetPosition(body);
+       r = dBodyGetRotation(body);
+       vel = dBodyGetLinearVel(body);
+       avel = dBodyGetAngularVel(body);
+       VectorCopy(o, origin);
+       forward[0] = r[0];
+       forward[1] = r[4];
+       forward[2] = r[8];
+       left[0] = r[1];
+       left[1] = r[5];
+       left[2] = r[9];
+       up[0] = r[2];
+       up[1] = r[6];
+       up[2] = r[10];
+       VectorCopy(vel, velocity);
+       VectorCopy(avel, spinvelocity);
+       Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
+       Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
+       Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) AnglesFromVectors(val->vector, forward, up, true);
+}
+
+static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
+{
+       const float *iv;
+       const int *ie;
+       dBodyID body = (dBodyID)ed->priv.server->ode_body;
+       dMass mass;
+       dReal test;
+       void *dataID;
+       dVector3 capsulerot[3];
+       dp_model_t *model;
+       float *ov;
+       int *oe;
+       int axisindex;
+       int modelindex = 0;
+       int movetype;
+       int numtriangles;
+       int numvertices;
+       int solid;
+       int triangleindex;
+       int vertexindex;
+       mempool_t *mempool;
+       prvm_eval_t *val;
+       vec3_t angles;
+       vec3_t avelocity;
+       vec3_t entmaxs;
+       vec3_t entmins;
+       vec3_t forward;
+       vec3_t geomcenter;
+       vec3_t geomsize;
+       vec3_t left;
+       vec3_t origin;
+       vec3_t spinvelocity;
+       vec3_t up;
+       vec3_t velocity;
+       vec_t f;
+       vec_t length;
+       vec_t massval = 1.0f;
+       vec_t movelimit;
+       vec_t radius;
+       vec_t spinlimit;
+#ifndef ODE_STATIC
+       if (!ode_dll)
+               return;
+#endif
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);
+       solid = (int)val->_float;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
+       movetype = (int)val->_float;
+       switch(solid)
+       {
+       case SOLID_BSP:
+               val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex);
+               modelindex = (int)val->_float;
+               if (world == &sv.world && modelindex >= 1 && modelindex < MAX_MODELS)
+               {
+                       model = sv.models[modelindex];
+                       mempool = sv_mempool;
+               }
+               else if (world == &cl.world && modelindex >= 1 && modelindex < MAX_MODELS)
+               {
+                       model = cl.model_precache[modelindex];
+                       mempool = cls.levelmempool;
+               }
+               else
+               {
+                       model = NULL;
+                       mempool = NULL;
+                       modelindex = 0;
+               }
+               if (model)
+               {
+                       VectorCopy(model->normalmins, entmins);
+                       VectorCopy(model->normalmaxs, entmaxs);
+                       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
+               }
+               else
+               {
+                       modelindex = 0;
+                       massval = 1.0f;
+               }
+               break;
+       case SOLID_BBOX:
+       //case SOLID_SLIDEBOX:
+       case SOLID_CORPSE:
+       case SOLID_PHYSICS_BOX:
+       case SOLID_PHYSICS_SPHERE:
+       case SOLID_PHYSICS_CAPSULE:
+               val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mins);if (val) VectorCopy(val->vector, entmins);
+               val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.maxs);if (val) VectorCopy(val->vector, entmaxs);
+               val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
+               break;
+       default:
+               if (ed->priv.server->ode_physics)
+                       World_Physics_RemoveFromEntity(world, ed);
+               return;
+       }
+
+       VectorSubtract(entmaxs, entmins, geomsize);
+       if (VectorLength2(geomsize) == 0)
+       {
+               // we don't allow point-size physics objects...
+               if (ed->priv.server->ode_physics)
+                       World_Physics_RemoveFromEntity(world, ed);
+               return;
+       }
+
+       if (movetype != MOVETYPE_PHYSICS)
+               massval = 1.0f;
+
+       // check if we need to create or replace the geom
+       if (!ed->priv.server->ode_physics
+        || !VectorCompare(ed->priv.server->ode_mins, entmins)
+        || !VectorCompare(ed->priv.server->ode_maxs, entmaxs)
+        || ed->priv.server->ode_mass != massval
+        || ed->priv.server->ode_modelindex != modelindex)
+       {
+               World_Physics_RemoveFromEntity(world, ed);
+               ed->priv.server->ode_physics = true;
+               VectorCopy(entmins, ed->priv.server->ode_mins);
+               VectorCopy(entmaxs, ed->priv.server->ode_maxs);
+               ed->priv.server->ode_mass = massval;
+               ed->priv.server->ode_modelindex = modelindex;
+               VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
+               ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
+
+               if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
+               {
+                       if (movetype == MOVETYPE_PHYSICS)
+                               Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
+                       massval = 1.0f;
+                       VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
+               }
+
+               switch(solid)
+               {
+               case SOLID_BSP:
+                       ed->priv.server->ode_offsetmatrix = identitymatrix;
+                       if (!model)
+                       {
+                               Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
+                               break;
+                       }
+                       // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
+                       if (!model->brush.collisionmesh)
+                               Mod_CreateCollisionMesh(model);
+                       if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles)
+                       {
+                               Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
+                               break;
+                       }
+                       // ODE requires persistent mesh storage, so we need to copy out
+                       // the data from the model because renderer restarts could free it
+                       // during the game, additionally we need to flip the triangles...
+                       // note: ODE does preprocessing of the mesh for culling, removing
+                       // concave edges, etc., so this is not a lightweight operation
+                       ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
+                       ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
+                       for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
+                       {
+                               ov[0] = iv[0] - geomcenter[0];
+                               ov[1] = iv[1] - geomcenter[1];
+                               ov[2] = iv[2] - geomcenter[2];
+                       }
+                       ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
+                       ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
+                       //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
+                       for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
+                       {
+                               oe[0] = ie[2];
+                               oe[1] = ie[1];
+                               oe[2] = ie[0];
+                       }
+                       Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+                       // now create the geom
+                       dataID = dGeomTriMeshDataCreate();
+                       dGeomTriMeshDataBuildSingle(dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3]));
+                       ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+                       ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
+                       dGeomSetBody(ed->priv.server->ode_geom, body);
+                       dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+                       dBodySetMass(body, &mass);
+                       dBodySetData(body, (void*)ed);
+                       break;
+               case SOLID_BBOX:
+               case SOLID_SLIDEBOX:
+               case SOLID_CORPSE:
+               case SOLID_PHYSICS_BOX:
+                       Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+                       ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+                       ed->priv.server->ode_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
+                       dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+                       dGeomSetBody(ed->priv.server->ode_geom, body);
+                       dBodySetMass(body, &mass);
+                       dBodySetData(body, (void*)ed);
+                       break;
+               case SOLID_PHYSICS_SPHERE:
+                       Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+                       ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+                       ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f);
+                       dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
+                       dGeomSetBody(ed->priv.server->ode_geom, body);
+                       dBodySetMass(body, &mass);
+                       dBodySetData(body, (void*)ed);
+                       break;
+               case SOLID_PHYSICS_CAPSULE:
+                       axisindex = 0;
+                       if (geomsize[axisindex] < geomsize[1])
+                               axisindex = 1;
+                       if (geomsize[axisindex] < geomsize[2])
+                               axisindex = 2;
+                       // the qc gives us 3 axis radius, the longest axis is the capsule
+                       // axis, since ODE doesn't like this idea we have to create a
+                       // capsule which uses the standard orientation, and apply a
+                       // transform to it
+                       memset(capsulerot, 0, sizeof(capsulerot));
+                       if (axisindex == 0)
+                               Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+                       else if (axisindex == 1)
+                               Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+                       else
+                               Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
+                       radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
+                       length = geomsize[axisindex] - radius*2;
+                       // because we want to support more than one axisindex, we have to
+                       // create a transform, and turn on its cleanup setting (which will
+                       // cause the child to be destroyed when it is destroyed)
+                       ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+                       ed->priv.server->ode_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length);
+                       dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
+                       dGeomSetBody(ed->priv.server->ode_geom, body);
+                       dBodySetMass(body, &mass);
+                       dBodySetData(body, (void*)ed);
+                       break;
+               default:
+                       Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
+               }
+               Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
+       }
+
+       // get current data from entity
+       VectorClear(origin);
+       VectorClear(forward);
+       VectorClear(left);
+       VectorClear(up);
+       VectorClear(velocity);
+       VectorClear(spinvelocity);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
+
+       // compatibility for legacy entities
+       switch (solid)
+       {
+       case SOLID_BSP:
+               //VectorClear(velocity);
+               VectorClear(angles);
+               VectorClear(avelocity);
+               val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
+               val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, avelocity);
+               AngleVectorsFLU(angles, forward, left, up);
+               // convert single-axis rotations in avelocity to spinvelocity
+               // FIXME: untested math - check signs
+               VectorSet(spinvelocity, avelocity[PITCH] * ((float)M_PI / 180.0f), avelocity[ROLL] * ((float)M_PI / 180.0f), avelocity[YAW] * ((float)M_PI / 180.0f));
+               break;
+       case SOLID_BBOX:
+       case SOLID_SLIDEBOX:
+       case SOLID_CORPSE:
+               //VectorClear(velocity);
+               VectorSet(forward, 1, 0, 0);
+               VectorSet(left, 0, 1, 0);
+               VectorSet(up, 0, 0, 1);
+               VectorSet(spinvelocity, 0, 0, 0);
+               break;
+       }
+
+       // we must prevent NANs...
+       test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
+       if (IS_NAN(test))
+       {
+               Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = '%f %f %f' .velocity = '%f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], velocity[0], velocity[1], velocity[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+               test = VectorLength2(origin);
+               if (IS_NAN(test))
+                       VectorClear(origin);
+               test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
+               if (IS_NAN(test))
+               {
+                       VectorSet(forward, 1, 0, 0);
+                       VectorSet(left, 0, 1, 0);
+                       VectorSet(up, 0, 0, 1);
+               }
+               test = VectorLength2(velocity);
+               if (IS_NAN(test))
+                       VectorClear(velocity);
+               test = VectorLength2(spinvelocity);
+               if (IS_NAN(test))
+               {
+                       VectorClear(spinvelocity);
+               }
+       }
+
+       // limit movement speed to prevent missed collisions at high speed
+       movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
+       test = VectorLength2(velocity);
+       if (test > movelimit*movelimit)
+       {
+               // scale down linear velocity to the movelimit
+               // scale down angular velocity the same amount for consistency
+               f = movelimit / sqrt(test);
+               VectorScale(velocity, f, velocity);
+               VectorScale(spinvelocity, f, spinvelocity);
+       }
+
+       // make sure the angular velocity is not exploding
+       spinlimit = physics_ode_spinlimit.value;
+       test = VectorLength2(spinvelocity);
+       if (test > spinlimit)
+               VectorClear(spinvelocity);
+
+       // store the values into the physics engine
+       body = ed->priv.server->ode_body;
+       if (body)
+       {
+               dVector3 r[3];
+               matrix4x4_t entitymatrix;
+               matrix4x4_t bodymatrix;
+               Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
+               Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
+               Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
+               r[0][0] = forward[0];
+               r[1][0] = forward[1];
+               r[2][0] = forward[2];
+               r[0][1] = left[0];
+               r[1][1] = left[1];
+               r[2][1] = left[2];
+               r[0][2] = up[0];
+               r[1][2] = up[1];
+               r[2][2] = up[2];
+               dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_body);
+               dBodySetPosition(body, origin[0], origin[1], origin[2]);
+               dBodySetRotation(body, r[0]);
+               dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
+               dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+               // setting body to NULL makes an immovable object
+               if (movetype != MOVETYPE_PHYSICS)
+                       dGeomSetBody(ed->priv.server->ode_geom, 0);
+       }
+}
+
+#define MAX_CONTACTS 16
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+       world_t *world = (world_t *)data;
+       dContact contact[MAX_CONTACTS]; // max contacts per collision pair
+       dBodyID b1;
+       dBodyID b2;
+       dJointID c;
+       int i;
+       int numcontacts;
+
+       if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+       {
+               // colliding a space with something
+               dSpaceCollide2(o1, o2, data, &nearCallback);
+               // Note we do not want to test intersections within a space,
+               // only between spaces.
+               //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
+               //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
+               return;
+       }
+
+       b1 = dGeomGetBody(o1);
+       b2 = dGeomGetBody(o2);
+
+       // at least one object has to be using MOVETYPE_PHYSICS or we just don't care
+       if (!b1 && !b2)
+               return;
+
+       // exit without doing anything if the two bodies are connected by a joint
+       if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
+               return;
+
+       // generate contact points between the two non-space geoms
+       numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
+       // add these contact points to the simulation
+       for (i = 0;i < numcontacts;i++)
+       {
+               contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0);
+               contact[i].surface.mu = physics_ode_contact_mu.value;
+               contact[i].surface.soft_erp = physics_ode_contact_erp.value;
+               contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
+               c = dJointCreateContact(world->physics.ode_world, world->physics.ode_contactgroup, contact + i);
+               dJointAttach(c, b1, b2);
+       }
+}
+#endif
+
+void World_Physics_Frame(world_t *world, double frametime, double gravity)
+{
+#ifdef USEODE
+       if (world->physics.ode)
+       {
+               int i;
+               prvm_edict_t *ed;
+
+               // copy physics properties from entities to physics engine
+               if (prog)
+                       for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
+                               if (!prog->edicts[i].priv.required->free)
+                                       World_Physics_Frame_BodyFromEntity(world, ed);
+
+               world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
+               world->physics.ode_step = frametime / world->physics.ode_iterations;
+               world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
+               for (i = 0;i < world->physics.ode_iterations;i++)
+               {
+                       // set the gravity
+                       dWorldSetGravity(world->physics.ode_world, 0, 0, -gravity);
+                       // set the tolerance for closeness of objects
+                       dWorldSetContactSurfaceLayer(world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
+
+                       // run collisions for the current world state, creating JointGroup
+                       dSpaceCollide(world->physics.ode_space, (void *)world, nearCallback);
+
+                       // run physics (move objects, calculate new velocities)
+                       if (physics_ode_worldquickstep.integer)
+                       {
+                               dWorldSetQuickStepNumIterations(world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200));
+                               dWorldQuickStep(world->physics.ode_world, world->physics.ode_step);
+                       }
+                       else if (physics_ode_worldstepfast.integer)
+                               dWorldStepFast1(world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstepfast_iterations.integer, 200));
+                       else
+                               dWorldStep(world->physics.ode_world, world->physics.ode_step);
+
+                       // clear the JointGroup now that we're done with it
+                       dJointGroupEmpty(world->physics.ode_contactgroup);
+               }
+
+               // copy physics properties from physics engine to entities
+               if (prog)
+                       for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
+                               if (!prog->edicts[i].priv.required->free && PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype)->_float == MOVETYPE_PHYSICS)
+                                       World_Physics_Frame_BodyToEntity(world, ed);
+       }
+#endif
+}