add cvars for world erp and cfm; remove pistons for ODE 0.9 support

[xonotic/darkplaces.git] / world.c

diff --git a/world.c b/world.c
index 2f9118b02bc58b3719c21c2ce2c55c7c8d30f25e..9a032bb20173555cfa3d7ca0f56b0bf95448a176 100644 (file)
--- a/world.c
+++ b/world.c
@@ -332,6 +332,8 @@ cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_ite
 cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
 cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
 cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
 cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
 cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
 cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};

+cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};

 cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
 cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"};
 cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
 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"};


@@ -1424,6 +1426,8 @@ static void World_Physics_Init(void)
        Cvar_RegisterVariable(&physics_ode_contact_mu);
        Cvar_RegisterVariable(&physics_ode_contact_erp);
        Cvar_RegisterVariable(&physics_ode_contact_cfm);
        Cvar_RegisterVariable(&physics_ode_contact_mu);
        Cvar_RegisterVariable(&physics_ode_contact_erp);
        Cvar_RegisterVariable(&physics_ode_contact_cfm);

+       Cvar_RegisterVariable(&physics_ode_world_erp);
+       Cvar_RegisterVariable(&physics_ode_world_cfm);

        Cvar_RegisterVariable(&physics_ode_iterationsperframe);
        Cvar_RegisterVariable(&physics_ode_movelimit);
        Cvar_RegisterVariable(&physics_ode_spinlimit);
        Cvar_RegisterVariable(&physics_ode_iterationsperframe);
        Cvar_RegisterVariable(&physics_ode_movelimit);
        Cvar_RegisterVariable(&physics_ode_spinlimit);


@@ -1487,7 +1491,10 @@ static void World_Physics_EnableODE(world_t *world)
        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);
        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
+       if(physics_ode_world_erp.value >= 0)
+               dWorldSetERP(world->physics.ode_world, physics_ode_world_erp.value);
+       if(physics_ode_world_cfm.value >= 0)
+               dWorldSetCFM(world->physics.ode_world, physics_ode_world_cfm.value);

 }
 #endif
 
 }
 #endif
 


@@ -1607,8 +1614,6 @@ static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
                                break;
                        case JOINTTYPE_HINGE2:
                                break;
                                break;
                        case JOINTTYPE_HINGE2:
                                break;

-                       case JOINTTYPE_PISTON:
-                               break;

                }
                return;
        }
                }
                return;
        }


@@ -1713,9 +1718,6 @@ static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed
                case JOINTTYPE_HINGE2:
                        j = dJointCreateHinge2(world->physics.ode_world, 0);
                        break;
                case JOINTTYPE_HINGE2:
                        j = dJointCreateHinge2(world->physics.ode_world, 0);
                        break;

-               case JOINTTYPE_PISTON:
-                       j = dJointCreatePiston(world->physics.ode_world, 0);
-                       break;

                case 0:
                default:
                        // no joint
                case 0:
                default:
                        // no joint


@@ -1759,9 +1761,6 @@ static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed
                                dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
                                dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
                                break;
                                dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
                                dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
                                break;

-                       case JOINTTYPE_PISTON:
-                               dJointSetPistonAxis(j, forward[0], forward[1], forward[2]);
-                               break;

                        case 0:
                        default:
                                Host_Error("what? but above the joint was valid...\n");
                        case 0:
                        default:
                                Host_Error("what? but above the joint was valid...\n");