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 54f59ec..9a032bb 100644 (file)
--- a/world.c
+++ b/world.c
@@ -20,969 +20,2308 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 // world.c -- world query functions
 
 #include "quakedef.h"
 // world.c -- world query functions
 
 #include "quakedef.h"
+#include "clvm_cmds.h"
 
 /*
 
 entities never clip against themselves, or their owner
 
 
 /*
 
 entities never clip against themselves, or their owner
 
-line of sight checks trace->crosscontent, but bullets don't
+line of sight checks trace->inopen and trace->inwater, but bullets don't
 
 */
 
 
 */
 
-/*
-typedef struct link_s
+static void World_Physics_Init(void);
+void World_Init(void)
 {
 {
-       struct link_s   *prev, *next;
-} link_t;
-*/
-
+       Collision_Init();
+       World_Physics_Init();
+}
 
 
-void ClearLink (link_t *l);
-void RemoveLink (link_t *l);
-void InsertLinkBefore (link_t *l, link_t *before);
-void InsertLinkAfter (link_t *l, link_t *after);
+static void World_Physics_Shutdown(void);
+void World_Shutdown(void)
+{
+       World_Physics_Shutdown();
+}
 
 
-// (type *)STRUCT_FROM_LINK(link_t *link, type, member)
-// ent = STRUCT_FROM_LINK(link,entity_t,order)
-// FIXME: remove this mess!
-//#define      STRUCT_FROM_LINK(l,t,m) ((t *)((byte *)l - (int)&(((t *)0)->m)))
+static void World_Physics_Start(world_t *world);
+void World_Start(world_t *world)
+{
+       World_Physics_Start(world);
+}
 
 
-#define        EDICT_FROM_AREA(l) ((edict_t *)((byte *)l - (int)&(((edict_t *)0)->area)))
+static void World_Physics_End(world_t *world);
+void World_End(world_t *world)
+{
+       World_Physics_End(world);
+}
 
 //============================================================================
 
 
 //============================================================================
 
-// ClearLink is used for new headnodes
-void ClearLink (link_t *l)
+/// World_ClearLink is used for new headnodes
+void World_ClearLink (link_t *l)
 {
 {
+       l->entitynumber = 0;
        l->prev = l->next = l;
 }
 
        l->prev = l->next = l;
 }
 
-void RemoveLink (link_t *l)
+void World_RemoveLink (link_t *l)
 {
        l->next->prev = l->prev;
        l->prev->next = l->next;
 }
 
 {
        l->next->prev = l->prev;
        l->prev->next = l->next;
 }
 
-void InsertLinkBefore (link_t *l, link_t *before)
+void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
 {
 {
+       l->entitynumber = entitynumber;
        l->next = before;
        l->prev = before->prev;
        l->prev->next = l;
        l->next->prev = l;
 }
        l->next = before;
        l->prev = before->prev;
        l->prev->next = l;
        l->next->prev = l;
 }
-void InsertLinkAfter (link_t *l, link_t *after)
-{
-       l->next = after->next;
-       l->prev = after;
-       l->prev->next = l;
-       l->next->prev = l;
-}
-
-
-typedef struct
-{
-       vec3_t          boxmins, boxmaxs;// enclose the test object along entire move
-       float           *mins, *maxs;   // size of the moving object
-       vec3_t          mins2, maxs2;   // size when clipping against mosnters
-       float           *start, *end;
-       trace_t         trace;
-       int                     type;
-       edict_t         *passedict;
-} moveclip_t;
-
 
 /*
 ===============================================================================
 
 
 /*
 ===============================================================================
 
-HULL BOXES
+ENTITY AREA CHECKING
 
 ===============================================================================
 */
 
 
 ===============================================================================
 */
 
-
-static hull_t          box_hull;
-static dclipnode_t     box_clipnodes[6];
-static mplane_t        box_planes[6];
+void World_PrintAreaStats(world_t *world, const char *worldname)
+{
+       Con_Printf("%s areagrid check stats: %d calls %d nodes (%f per call) %d entities (%f per call)\n", worldname, world->areagrid_stats_calls, world->areagrid_stats_nodechecks, (double) world->areagrid_stats_nodechecks / (double) world->areagrid_stats_calls, world->areagrid_stats_entitychecks, (double) world->areagrid_stats_entitychecks / (double) world->areagrid_stats_calls);
+       world->areagrid_stats_calls = 0;
+       world->areagrid_stats_nodechecks = 0;
+       world->areagrid_stats_entitychecks = 0;
+}
 
 /*
 
 /*
-===================
-SV_InitBoxHull
+===============
+World_SetSize
 
 
-Set up the planes and clipnodes so that the six floats of a bounding box
-can just be stored out and get a proper hull_t structure.
-===================
+===============
 */
 */
-void SV_InitBoxHull (void)
+void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs)
 {
 {
-       int             i;
-       int             side;
-
-       box_hull.clipnodes = box_clipnodes;
-       box_hull.planes = box_planes;
-       box_hull.firstclipnode = 0;
-       box_hull.lastclipnode = 5;
-
-       for (i=0 ; i<6 ; i++)
-       {
-               box_clipnodes[i].planenum = i;
-               
-               side = i&1;
-               
-               box_clipnodes[i].children[side] = CONTENTS_EMPTY;
-               if (i != 5)
-                       box_clipnodes[i].children[side^1] = i + 1;
-               else
-                       box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
-               
-               box_planes[i].type = i>>1;
-               box_planes[i].normal[i>>1] = 1;
-       }
-
+       int i;
+
+       strlcpy(world->filename, filename, sizeof(world->filename));
+       VectorCopy(mins, world->mins);
+       VectorCopy(maxs, world->maxs);
+
+       // the areagrid_marknumber is not allowed to be 0
+       if (world->areagrid_marknumber < 1)
+               world->areagrid_marknumber = 1;
+       // choose either the world box size, or a larger box to ensure the grid isn't too fine
+       world->areagrid_size[0] = max(world->areagrid_maxs[0] - world->areagrid_mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
+       world->areagrid_size[1] = max(world->areagrid_maxs[1] - world->areagrid_mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
+       world->areagrid_size[2] = max(world->areagrid_maxs[2] - world->areagrid_mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
+       // figure out the corners of such a box, centered at the center of the world box
+       world->areagrid_mins[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] - world->areagrid_size[0]) * 0.5f;
+       world->areagrid_mins[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] - world->areagrid_size[1]) * 0.5f;
+       world->areagrid_mins[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] - world->areagrid_size[2]) * 0.5f;
+       world->areagrid_maxs[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] + world->areagrid_size[0]) * 0.5f;
+       world->areagrid_maxs[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] + world->areagrid_size[1]) * 0.5f;
+       world->areagrid_maxs[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] + world->areagrid_size[2]) * 0.5f;
+       // now calculate the actual useful info from that
+       VectorNegate(world->areagrid_mins, world->areagrid_bias);
+       world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
+       world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
+       world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
+       World_ClearLink(&world->areagrid_outside);
+       for (i = 0;i < AREA_GRIDNODES;i++)
+               World_ClearLink(&world->areagrid[i]);
+       if (developer.integer >= 10)
+               Con_Printf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value);
 }
 
 }
 
-
 /*
 /*
-===================
-SV_HullForBox
+===============
+World_UnlinkAll
 
 
-To keep everything totally uniform, bounding boxes are turned into small
-BSP trees instead of being compared directly.
-===================
+===============
 */
 */
-hull_t *SV_HullForBox (vec3_t mins, vec3_t maxs)
+void World_UnlinkAll(world_t *world)
 {
 {
-       box_planes[0].dist = maxs[0];
-       box_planes[1].dist = mins[0];
-       box_planes[2].dist = maxs[1];
-       box_planes[3].dist = mins[1];
-       box_planes[4].dist = maxs[2];
-       box_planes[5].dist = mins[2];
-
-       return &box_hull;
+       int i;
+       link_t *grid;
+       // unlink all entities one by one
+       grid = &world->areagrid_outside;
+       while (grid->next != grid)
+               World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
+       for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
+               while (grid->next != grid)
+                       World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
 }
 
 }
 
-
-
 /*
 /*
-================
-SV_HullForEntity
-
-Returns a hull that can be used for testing or clipping an object of mins/maxs
-size.
-Offset is filled in to contain the adjustment that must be added to the
-testing object's origin to get a point to use with the returned hull.
-================
+===============
+
+===============
 */
 */
-hull_t *SV_HullForEntity (edict_t *ent, vec3_t mins, vec3_t maxs, vec3_t offset)
+void World_UnlinkEdict(prvm_edict_t *ent)
 {
 {
-       model_t         *model;
-       vec3_t          size;
-       vec3_t          hullmins, hullmaxs;
-       hull_t          *hull;
-
-// decide which clipping hull to use, based on the size
-       if (ent->v.solid == SOLID_BSP)
-       {       // explicit hulls in the BSP model
-               if (ent->v.movetype != MOVETYPE_PUSH)
-                       Host_Error ("SOLID_BSP without MOVETYPE_PUSH");
-
-               model = sv.models[ (int)ent->v.modelindex ];
-               Mod_CheckLoaded(model);
-
-               // LordHavoc: fixed SOLID_BSP error message
-               if (!model || model->type != mod_brush)
+       int i;
+       for (i = 0;i < ENTITYGRIDAREAS;i++)
+       {
+               if (ent->priv.server->areagrid[i].prev)
                {
                {
-                       Con_Printf ("SOLID_BSP with a non bsp model, entity dump:\n");
-                       ED_Print (ent);
-                       Host_Error ("SOLID_BSP with a non bsp model\n");
+                       World_RemoveLink (&ent->priv.server->areagrid[i]);
+                       ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL;
                }
                }
+       }
+}
 
 
-               VectorSubtract (maxs, mins, size);
-               // LordHavoc: FIXME!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-               if (sv.worldmodel->ishlbsp)
+int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, prvm_edict_t **list)
+{
+       int numlist;
+       link_t *grid;
+       link_t *l;
+       prvm_edict_t *ent;
+       int igrid[3], igridmins[3], igridmaxs[3];
+
+       // FIXME: if areagrid_marknumber wraps, all entities need their
+       // ent->priv.server->areagridmarknumber reset
+       world->areagrid_stats_calls++;
+       world->areagrid_marknumber++;
+       igridmins[0] = (int) floor((mins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
+       igridmins[1] = (int) floor((mins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
+       //igridmins[2] = (int) ((mins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
+       igridmaxs[0] = (int) floor((maxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
+       igridmaxs[1] = (int) floor((maxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
+       //igridmaxs[2] = (int) ((maxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
+       igridmins[0] = max(0, igridmins[0]);
+       igridmins[1] = max(0, igridmins[1]);
+       //igridmins[2] = max(0, igridmins[2]);
+       igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
+       igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
+       //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
+
+       numlist = 0;
+       // add entities not linked into areagrid because they are too big or
+       // outside the grid bounds
+       if (world->areagrid_outside.next != &world->areagrid_outside)
+       {
+               grid = &world->areagrid_outside;
+               for (l = grid->next;l != grid;l = l->next)
                {
                {
-                       if (size[0] < 3)
-                               hull = &model->hulls[0]; // 0x0x0
-                       else if (size[0] <= 32)
+                       ent = PRVM_EDICT_NUM(l->entitynumber);
+                       if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
                        {
                        {
-                               if (size[2] < 54) // pick the nearest of 36 or 72
-                                       hull = &model->hulls[3]; // 32x32x36
-                               else
-                                       hull = &model->hulls[1]; // 32x32x72
+                               ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
+                               if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
+                               {
+                                       if (numlist < maxlist)
+                                               list[numlist] = ent;
+                                       numlist++;
+                               }
+                               world->areagrid_stats_entitychecks++;
                        }
                        }
-                       else
-                               hull = &model->hulls[2]; // 64x64x64
                }
                }
-               else
+       }
+       // add grid linked entities
+       for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
+       {
+               grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
+               for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
                {
                {
-                       if (size[0] < 3)
-                               hull = &model->hulls[0]; // 0x0x0
-                       else if (size[0] <= 32)
-                               hull = &model->hulls[1]; // 32x32x56
-                       else
-                               hull = &model->hulls[2]; // 64x64x88
+                       if (grid->next != grid)
+                       {
+                               for (l = grid->next;l != grid;l = l->next)
+                               {
+                                       ent = PRVM_EDICT_NUM(l->entitynumber);
+                                       if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
+                                       {
+                                               ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
+                                               if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
+                                               {
+                                                       if (numlist < maxlist)
+                                                               list[numlist] = ent;
+                                                       numlist++;
+                                               }
+                                               //Con_Printf("%d %f %f %f %f %f %f : %d : %f %f %f %f %f %f\n", BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs), ent->priv.server->areamins[0], ent->priv.server->areamins[1], ent->priv.server->areamins[2], ent->priv.server->areamaxs[0], ent->priv.server->areamaxs[1], ent->priv.server->areamaxs[2], PRVM_NUM_FOR_EDICT(ent), mins[0], mins[1], mins[2], maxs[0], maxs[1], maxs[2]);
+                                       }
+                                       world->areagrid_stats_entitychecks++;
+                               }
+                       }
                }
                }
-
-// calculate an offset value to center the origin
-               VectorSubtract (hull->clip_mins, mins, offset);
-               VectorAdd (offset, ent->v.origin, offset);
        }
        }
-       else
-       {       // create a temp hull from bounding box sizes
+       return numlist;
+}
 
 
-               VectorSubtract (ent->v.mins, maxs, hullmins);
-               VectorSubtract (ent->v.maxs, mins, hullmaxs);
-               hull = SV_HullForBox (hullmins, hullmaxs);
+void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
+{
+       link_t *grid;
+       int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
 
 
-               VectorCopy (ent->v.origin, offset);
+       if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
+       {
+               Con_Printf ("World_LinkEdict_AreaGrid: invalid edict %p (edicts is %p, edict compared to prog->edicts is %i)\n", (void *)ent, (void *)prog->edicts, entitynumber);
+               return;
        }
 
        }
 
+       igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
+       igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
+       //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
+       igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
+       igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
+       //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
+       if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
+       {
+               // wow, something outside the grid, store it as such
+               World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
+               return;
+       }
 
 
-       return hull;
+       gridnum = 0;
+       for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
+       {
+               grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
+               for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
+                       World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
+       }
 }
 
 /*
 }
 
 /*
-===============================================================================
-
-ENTITY AREA CHECKING
-
-===============================================================================
-*/
-
-typedef struct areanode_s
-{
-       int             axis;           // -1 = leaf node
-       float   dist;
-       struct areanode_s       *children[2];
-       link_t  trigger_edicts;
-       link_t  solid_edicts;
-} areanode_t;
-
-#define        AREA_DEPTH      4
-#define        AREA_NODES      32
-
-static areanode_t      sv_areanodes[AREA_NODES];
-static int                     sv_numareanodes;
-
-/*
 ===============
 ===============
-SV_CreateAreaNode
+World_LinkEdict
 
 ===============
 */
 
 ===============
 */
-areanode_t *SV_CreateAreaNode (int depth, vec3_t mins, vec3_t maxs)
+void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
 {
 {
-       areanode_t      *anode;
-       vec3_t          size;
-       vec3_t          mins1, maxs1, mins2, maxs2;
+       // unlink from old position first
+       if (ent->priv.server->areagrid[0].prev)
+               World_UnlinkEdict(ent);
 
 
-       anode = &sv_areanodes[sv_numareanodes];
-       sv_numareanodes++;
+       // don't add the world
+       if (ent == prog->edicts)
+               return;
 
 
-       ClearLink (&anode->trigger_edicts);
-       ClearLink (&anode->solid_edicts);
+       // don't add free entities
+       if (ent->priv.server->free)
+               return;
 
 
-       if (depth == AREA_DEPTH)
-       {
-               anode->axis = -1;
-               anode->children[0] = anode->children[1] = NULL;
-               return anode;
-       }
+       VectorCopy(mins, ent->priv.server->areamins);
+       VectorCopy(maxs, ent->priv.server->areamaxs);
+       World_LinkEdict_AreaGrid(world, ent);
+}
 
 
-       VectorSubtract (maxs, mins, size);
-       if (size[0] > size[1])
-               anode->axis = 0;
-       else
-               anode->axis = 1;
 
 
-       anode->dist = 0.5 * (maxs[anode->axis] + mins[anode->axis]);
-       VectorCopy (mins, mins1);
-       VectorCopy (mins, mins2);
-       VectorCopy (maxs, maxs1);
-       VectorCopy (maxs, maxs2);
 
 
-       maxs1[anode->axis] = mins2[anode->axis] = anode->dist;
 
 
-       anode->children[0] = SV_CreateAreaNode (depth+1, mins2, maxs2);
-       anode->children[1] = SV_CreateAreaNode (depth+1, mins1, maxs1);
+//============================================================================
+// physics engine support
+//============================================================================
 
 
-       return anode;
-}
+#ifndef ODE_STATIC
+#define ODE_DYNAMIC 1
+#endif
 
 
-/*
-===============
-SV_ClearWorld
+#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
+#define USEODE 1
+#endif
 
 
-===============
-*/
-void SV_ClearWorld (void)
-{
-       SV_InitBoxHull ();
+#ifdef USEODE
+cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
+cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"};
+cvar_t physics_ode_worldquickstep = {0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStepFast1 or dWorldStep"};
+cvar_t physics_ode_worldquickstep_iterations = {0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"};
+cvar_t physics_ode_worldstepfast = {0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"};
+cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"};
+cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
+cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
+cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
+cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
+cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
+cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"};
+cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
+
+// LordHavoc: this large chunk of definitions comes from the ODE library
+// include files.
+
+#ifdef ODE_STATIC
+#include "ode/ode.h"
+#else
+#ifdef WINAPI
+// ODE does not use WINAPI
+#define ODE_API
+#else
+#define ODE_API
+#endif
 
 
-       memset (sv_areanodes, 0, sizeof(sv_areanodes));
-       sv_numareanodes = 0;
-       Mod_CheckLoaded(sv.worldmodel);
-       SV_CreateAreaNode (0, sv.worldmodel->normalmins, sv.worldmodel->normalmaxs);
+// 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;
 
 
-/*
-===============
-SV_UnlinkEdict
-
-===============
-*/
-void SV_UnlinkEdict (edict_t *ent)
+typedef struct dMass
 {
 {
-       if (!ent->area.prev)
-               return;         // not linked in anywhere
-       RemoveLink (&ent->area);
-       ent->area.prev = ent->area.next = NULL;
+       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;
 
 
-/*
-====================
-SV_TouchLinks
-====================
-*/
-void SV_TouchLinks ( edict_t *ent, areanode_t *node )
+typedef struct dContact
+{
+       dSurfaceParameters surface;
+       dContactGeom geom;
+       dVector3 fdir1;
+}
+dContact;
+
+typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
+
+// SAP
+// Order XZY or ZXY usually works best, if your Y is up.
+#define dSAP_AXES_XYZ  ((0)|(1<<2)|(2<<4))
+#define dSAP_AXES_XZY  ((0)|(2<<2)|(1<<4))
+#define dSAP_AXES_YXZ  ((1)|(0<<2)|(2<<4))
+#define dSAP_AXES_YZX  ((1)|(2<<2)|(0<<4))
+#define dSAP_AXES_ZXY  ((2)|(0<<2)|(1<<4))
+#define dSAP_AXES_ZYX  ((2)|(1<<2)|(0<<4))
+
+//const char*     (ODE_API *dGetConfiguration)(void);
+//int             (ODE_API *dCheckConfiguration)( const char* token );
+int             (ODE_API *dInitODE)(void);
+//int             (ODE_API *dInitODE2)(unsigned int uiInitFlags);
+//int             (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
+//void            (ODE_API *dCleanupODEAllDataForThread)(void);
+void            (ODE_API *dCloseODE)(void);
+
+//int             (ODE_API *dMassCheck)(const dMass *m);
+//void            (ODE_API *dMassSetZero)(dMass *);
+//void            (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
+//void            (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
+void            (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
+//void            (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
+void            (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//void            (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
+//void            (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//void            (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
+void            (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
+//void            (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
+//void            (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
+//void            (ODE_API *dMassAdjust)(dMass *, dReal newmass);
+//void            (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
+//void            (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
+//void            (ODE_API *dMassAdd)(dMass *a, const dMass *b);
+//
+dWorldID        (ODE_API *dWorldCreate)(void);
+void            (ODE_API *dWorldDestroy)(dWorldID world);
+void            (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
+void            (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
+//void            (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
+//dReal           (ODE_API *dWorldGetERP)(dWorldID);
+//void            (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
+//dReal           (ODE_API *dWorldGetCFM)(dWorldID);
+void            (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
+//void            (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
+void            (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
+void            (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
+//int             (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
+//void            (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
+//dReal           (ODE_API *dWorldGetQuickStepW)(dWorldID);
+//void            (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
+//dReal           (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
+void            (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
+//dReal           (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
+void            (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
+//void            (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
+//int             (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
+//dReal           (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
+//void            (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
+//dReal           (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
+//void            (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
+//dReal           (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
+//void            (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
+//dReal           (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
+//void            (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
+//int             (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
+//void            (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
+//int             (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
+//void            (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
+//dReal           (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
+//void            (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
+//int             (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
+//void            (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
+//dReal           (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
+//void            (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
+//dReal           (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
+//void            (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
+//dReal           (ODE_API *dWorldGetLinearDamping)(dWorldID w);
+//void            (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
+//dReal           (ODE_API *dWorldGetAngularDamping)(dWorldID w);
+//void            (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
+//void            (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
+//dReal           (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
+//void            (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
+//dReal           (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
+//void            (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
+//dReal           (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
+//void            (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
+//int             (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
+//void            (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
+//int             (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
+//void            (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
+//dReal           (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
+//void            (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
+//int             (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
+//void            (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
+//void            (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
+//dWorldID        (ODE_API *dBodyGetWorld)(dBodyID);
+dBodyID         (ODE_API *dBodyCreate)(dWorldID);
+void            (ODE_API *dBodyDestroy)(dBodyID);
+void            (ODE_API *dBodySetData)(dBodyID, void *data);
+void *          (ODE_API *dBodyGetData)(dBodyID);
+void            (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
+void            (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
+//void            (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
+void            (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
+void            (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
+const dReal *   (ODE_API *dBodyGetPosition)(dBodyID);
+//void            (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
+const dReal *   (ODE_API *dBodyGetRotation)(dBodyID);
+//void            (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
+//const dReal *   (ODE_API *dBodyGetQuaternion)(dBodyID);
+//void            (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
+const dReal *   (ODE_API *dBodyGetLinearVel)(dBodyID);
+const dReal *   (ODE_API *dBodyGetAngularVel)(dBodyID);
+void            (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
+//void            (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
+//void            (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void            (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void            (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void            (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void            (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void            (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void            (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void            (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//const dReal *   (ODE_API *dBodyGetForce)(dBodyID);
+//const dReal *   (ODE_API *dBodyGetTorque)(dBodyID);
+//void            (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
+//void            (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
+//void            (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void            (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void            (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void            (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void            (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void            (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void            (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
+//void            (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
+//int             (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
+//void            (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
+//int             (ODE_API *dBodyGetNumJoints)(dBodyID b);
+//dJointID        (ODE_API *dBodyGetJoint)(dBodyID, int index);
+//void            (ODE_API *dBodySetDynamic)(dBodyID);
+//void            (ODE_API *dBodySetKinematic)(dBodyID);
+//int             (ODE_API *dBodyIsKinematic)(dBodyID);
+//void            (ODE_API *dBodyEnable)(dBodyID);
+//void            (ODE_API *dBodyDisable)(dBodyID);
+//int             (ODE_API *dBodyIsEnabled)(dBodyID);
+void            (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
+int             (ODE_API *dBodyGetGravityMode)(dBodyID b);
+//void            (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
+//dGeomID         (ODE_API *dBodyGetFirstGeom)(dBodyID b);
+//dGeomID         (ODE_API *dBodyGetNextGeom)(dGeomID g);
+//void            (ODE_API *dBodySetDampingDefaults)(dBodyID b);
+//dReal           (ODE_API *dBodyGetLinearDamping)(dBodyID b);
+//void            (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
+//dReal           (ODE_API *dBodyGetAngularDamping)(dBodyID b);
+//void            (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
+//void            (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
+//dReal           (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
+//void            (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
+//dReal           (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
+//void            (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
+//dReal           (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
+//void            (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
+//int             (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
+//void            (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
+//dJointID        (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
+dJointID        (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
+//dJointID        (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
+//dJointID        (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
+//void            (ODE_API *dJointDestroy)(dJointID);
+dJointGroupID   (ODE_API *dJointGroupCreate)(int max_size);
+void            (ODE_API *dJointGroupDestroy)(dJointGroupID);
+void            (ODE_API *dJointGroupEmpty)(dJointGroupID);
+//int             (ODE_API *dJointGetNumBodies)(dJointID);
+void            (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
+//void            (ODE_API *dJointEnable)(dJointID);
+//void            (ODE_API *dJointDisable)(dJointID);
+//int             (ODE_API *dJointIsEnabled)(dJointID);
+//void            (ODE_API *dJointSetData)(dJointID, void *data);
+//void *          (ODE_API *dJointGetData)(dJointID);
+//dJointType      (ODE_API *dJointGetType)(dJointID);
+//dBodyID         (ODE_API *dJointGetBody)(dJointID, int index);
+//void            (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
+//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
+//void            (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+//void            (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
+//void            (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
+//void            (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+//void            (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
+//void            (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
+//void            (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+//void            (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+//void            (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
+//void            (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
+//void            (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//void            (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
+//void            (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//void            (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
+//void            (ODE_API *dJointSetFixed)(dJointID);
+//void            (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
+//void            (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
+//void            (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
+//void            (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
+//void            (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
+//void            (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//void            (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
+//void            (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
+//dReal           (ODE_API *dJointGetBallParam)(dJointID, int parameter);
+//void            (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
+//dReal           (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
+//dReal           (ODE_API *dJointGetHingeAngle)(dJointID);
+//dReal           (ODE_API *dJointGetHingeAngleRate)(dJointID);
+//dReal           (ODE_API *dJointGetSliderPosition)(dJointID);
+//dReal           (ODE_API *dJointGetSliderPositionRate)(dJointID);
+//void            (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
+//dReal           (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
+//void            (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
+//dReal           (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
+//dReal           (ODE_API *dJointGetHinge2Angle1)(dJointID);
+//dReal           (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
+//dReal           (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
+//void            (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
+//dReal           (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
+//void            (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
+//dReal           (ODE_API *dJointGetUniversalAngle1)(dJointID);
+//dReal           (ODE_API *dJointGetUniversalAngle2)(dJointID);
+//dReal           (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
+//dReal           (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
+//void            (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
+//dReal           (ODE_API *dJointGetPRPosition)(dJointID);
+//dReal           (ODE_API *dJointGetPRPositionRate)(dJointID);
+//dReal           (ODE_API *dJointGetPRAngle)(dJointID);
+//dReal           (ODE_API *dJointGetPRAngleRate)(dJointID);
+//void            (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
+//dReal           (ODE_API *dJointGetPRParam)(dJointID, int parameter);
+//void            (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
+//dReal           (ODE_API *dJointGetPUPosition)(dJointID);
+//dReal           (ODE_API *dJointGetPUPositionRate)(dJointID);
+//void            (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
+//void            (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
+//dReal           (ODE_API *dJointGetPUAngle1)(dJointID);
+//dReal           (ODE_API *dJointGetPUAngle1Rate)(dJointID);
+//dReal           (ODE_API *dJointGetPUAngle2)(dJointID);
+//dReal           (ODE_API *dJointGetPUAngle2Rate)(dJointID);
+//dReal           (ODE_API *dJointGetPUParam)(dJointID, int parameter);
+//dReal           (ODE_API *dJointGetPistonPosition)(dJointID);
+//dReal           (ODE_API *dJointGetPistonPositionRate)(dJointID);
+//dReal           (ODE_API *dJointGetPistonAngle)(dJointID);
+//dReal           (ODE_API *dJointGetPistonAngleRate)(dJointID);
+//void            (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
+//void            (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
+//dReal           (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
+//int             (ODE_API *dJointGetAMotorNumAxes)(dJointID);
+//void            (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
+//int             (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
+//dReal           (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
+//dReal           (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
+//dReal           (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
+//int             (ODE_API *dJointGetAMotorMode)(dJointID);
+//int             (ODE_API *dJointGetLMotorNumAxes)(dJointID);
+//void            (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
+//dReal           (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
+//dReal           (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
+//dJointID        (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
+//int             (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
+int             (ODE_API *dAreConnected)(dBodyID, dBodyID);
+int             (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
+//
+dSpaceID        (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
+dSpaceID        (ODE_API *dHashSpaceCreate)(dSpaceID space);
+dSpaceID        (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
+//dSpaceID        (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
+void            (ODE_API *dSpaceDestroy)(dSpaceID);
+//void            (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
+//void            (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
+//void            (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
+//int             (ODE_API *dSpaceGetCleanup)(dSpaceID space);
+//void            (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
+//int             (ODE_API *dSpaceGetSublevel)(dSpaceID space);
+//void            (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
+//int             (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
+//void            (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
+//void            (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
+//int             (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
+//void            (ODE_API *dSpaceClean)(dSpaceID);
+//int             (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
+//dGeomID         (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
+//int             (ODE_API *dSpaceGetClass)(dSpaceID space);
+//
+void            (ODE_API *dGeomDestroy)(dGeomID geom);
+//void            (ODE_API *dGeomSetData)(dGeomID geom, void* data);
+//void *          (ODE_API *dGeomGetData)(dGeomID geom);
+void            (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
+dBodyID         (ODE_API *dGeomGetBody)(dGeomID geom);
+//void            (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+void            (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
+//void            (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
+//const dReal *   (ODE_API *dGeomGetPosition)(dGeomID geom);
+//void            (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
+//const dReal *   (ODE_API *dGeomGetRotation)(dGeomID geom);
+//void            (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
+//void            (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
+//void            (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
+int             (ODE_API *dGeomIsSpace)(dGeomID geom);
+//dSpaceID        (ODE_API *dGeomGetSpace)(dGeomID);
+//int             (ODE_API *dGeomGetClass)(dGeomID geom);
+//void            (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
+//void            (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
+//unsigned long   (ODE_API *dGeomGetCategoryBits)(dGeomID);
+//unsigned long   (ODE_API *dGeomGetCollideBits)(dGeomID);
+//void            (ODE_API *dGeomEnable)(dGeomID geom);
+//void            (ODE_API *dGeomDisable)(dGeomID geom);
+//int             (ODE_API *dGeomIsEnabled)(dGeomID geom);
+//void            (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//void            (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
+//void            (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
+//void            (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//void            (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
+//void            (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
+//void            (ODE_API *dGeomClearOffset)(dGeomID geom);
+//int             (ODE_API *dGeomIsOffset)(dGeomID geom);
+//const dReal *   (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
+//void            (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
+//const dReal *   (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
+//void            (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
+//void            (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
+int             (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
+//
+void            (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
+void            (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
+//
+dGeomID         (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
+//void            (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
+//dReal           (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
+//dReal           (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
+//
+//dGeomID         (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//void            (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//
+dGeomID         (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
+//void            (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
+//void            (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
+//dReal           (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//dReal           (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//
+//dGeomID         (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+//void            (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
+//void            (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
+//dReal           (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
+//
+dGeomID         (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
+//void            (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
+//void            (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
+//dReal           (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
+//
+//dGeomID         (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
+//void            (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
+//void            (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
+//
+//dGeomID         (ODE_API *dCreateRay)(dSpaceID space, dReal length);
+//void            (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
+//dReal           (ODE_API *dGeomRayGetLength)(dGeomID ray);
+//void            (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
+//void            (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
+//
+dGeomID         (ODE_API *dCreateGeomTransform)(dSpaceID space);
+void            (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
+//dGeomID         (ODE_API *dGeomTransformGetGeom)(dGeomID g);
+void            (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
+//int             (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
+//void            (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
+//int             (ODE_API *dGeomTransformGetInfo)(dGeomID g);
+
+enum { TRIMESH_FACE_NORMALS };
+typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
+typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
+typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
+typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
+
+dTriMeshDataID  (ODE_API *dGeomTriMeshDataCreate)(void);
+void            (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
+//void            (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
+//void*           (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
+//void            (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
+//dReal*          (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
+void            (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
+//void            (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void            (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
+//void            (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void            (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
+//void            (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
+//void            (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
+//void            (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
+//void            (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
+//void            (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
+//dTriCallback*   (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
+//void            (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
+//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
+//void            (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
+//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
+//void            (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
+//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
+dGeomID         (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+//void            (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
+//dTriMeshDataID  (ODE_API *dGeomTriMeshGetData)(dGeomID g);
+//void            (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
+//int             (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
+//void            (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
+//dTriMeshDataID  (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
+//void            (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+//void            (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+//int             (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
+//void            (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
+
+static dllfunction_t odefuncs[] =
 {
 {
-       link_t          *l, *next;
-       edict_t         *touch;
-       int                     old_self, old_other;
+//     {"dGetConfiguration",                                                   (void **) &dGetConfiguration},
+//     {"dCheckConfiguration",                                                 (void **) &dCheckConfiguration},
+       {"dInitODE",                                                                    (void **) &dInitODE},
+//     {"dInitODE2",                                                                   (void **) &dInitODE2},
+//     {"dAllocateODEDataForThread",                                   (void **) &dAllocateODEDataForThread},
+//     {"dCleanupODEAllDataForThread",                                 (void **) &dCleanupODEAllDataForThread},
+       {"dCloseODE",                                                                   (void **) &dCloseODE},
+//     {"dMassCheck",                                                                  (void **) &dMassCheck},
+//     {"dMassSetZero",                                                                (void **) &dMassSetZero},
+//     {"dMassSetParameters",                                                  (void **) &dMassSetParameters},
+//     {"dMassSetSphere",                                                              (void **) &dMassSetSphere},
+       {"dMassSetSphereTotal",                                                 (void **) &dMassSetSphereTotal},
+//     {"dMassSetCapsule",                                                             (void **) &dMassSetCapsule},
+       {"dMassSetCapsuleTotal",                                                (void **) &dMassSetCapsuleTotal},
+//     {"dMassSetCylinder",                                                    (void **) &dMassSetCylinder},
+//     {"dMassSetCylinderTotal",                                               (void **) &dMassSetCylinderTotal},
+//     {"dMassSetBox",                                                                 (void **) &dMassSetBox},
+       {"dMassSetBoxTotal",                                                    (void **) &dMassSetBoxTotal},
+//     {"dMassSetTrimesh",                                                             (void **) &dMassSetTrimesh},
+//     {"dMassSetTrimeshTotal",                                                (void **) &dMassSetTrimeshTotal},
+//     {"dMassAdjust",                                                                 (void **) &dMassAdjust},
+//     {"dMassTranslate",                                                              (void **) &dMassTranslate},
+//     {"dMassRotate",                                                                 (void **) &dMassRotate},
+//     {"dMassAdd",                                                                    (void **) &dMassAdd},
+
+       {"dWorldCreate",                                                                (void **) &dWorldCreate},
+       {"dWorldDestroy",                                                               (void **) &dWorldDestroy},
+       {"dWorldSetGravity",                                                    (void **) &dWorldSetGravity},
+       {"dWorldGetGravity",                                                    (void **) &dWorldGetGravity},
+//     {"dWorldSetERP",                                                                (void **) &dWorldSetERP},
+//     {"dWorldGetERP",                                                                (void **) &dWorldGetERP},
+//     {"dWorldSetCFM",                                                                (void **) &dWorldSetCFM},
+//     {"dWorldGetCFM",                                                                (void **) &dWorldGetCFM},
+       {"dWorldStep",                                                                  (void **) &dWorldStep},
+//     {"dWorldImpulseToForce",                                                (void **) &dWorldImpulseToForce},
+       {"dWorldQuickStep",                                                             (void **) &dWorldQuickStep},
+       {"dWorldSetQuickStepNumIterations",                             (void **) &dWorldSetQuickStepNumIterations},
+//     {"dWorldGetQuickStepNumIterations",                             (void **) &dWorldGetQuickStepNumIterations},
+//     {"dWorldSetQuickStepW",                                                 (void **) &dWorldSetQuickStepW},
+//     {"dWorldGetQuickStepW",                                                 (void **) &dWorldGetQuickStepW},
+//     {"dWorldSetContactMaxCorrectingVel",                    (void **) &dWorldSetContactMaxCorrectingVel},
+//     {"dWorldGetContactMaxCorrectingVel",                    (void **) &dWorldGetContactMaxCorrectingVel},
+       {"dWorldSetContactSurfaceLayer",                                (void **) &dWorldSetContactSurfaceLayer},
+//     {"dWorldGetContactSurfaceLayer",                                (void **) &dWorldGetContactSurfaceLayer},
+       {"dWorldStepFast1",                                                             (void **) &dWorldStepFast1},
+//     {"dWorldSetAutoEnableDepthSF1",                                 (void **) &dWorldSetAutoEnableDepthSF1},
+//     {"dWorldGetAutoEnableDepthSF1",                                 (void **) &dWorldGetAutoEnableDepthSF1},
+//     {"dWorldGetAutoDisableLinearThreshold",                 (void **) &dWorldGetAutoDisableLinearThreshold},
+//     {"dWorldSetAutoDisableLinearThreshold",                 (void **) &dWorldSetAutoDisableLinearThreshold},
+//     {"dWorldGetAutoDisableAngularThreshold",                (void **) &dWorldGetAutoDisableAngularThreshold},
+//     {"dWorldSetAutoDisableAngularThreshold",                (void **) &dWorldSetAutoDisableAngularThreshold},
+//     {"dWorldGetAutoDisableLinearAverageThreshold",  (void **) &dWorldGetAutoDisableLinearAverageThreshold},
+//     {"dWorldSetAutoDisableLinearAverageThreshold",  (void **) &dWorldSetAutoDisableLinearAverageThreshold},
+//     {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
+//     {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
+//     {"dWorldGetAutoDisableAverageSamplesCount",             (void **) &dWorldGetAutoDisableAverageSamplesCount},
+//     {"dWorldSetAutoDisableAverageSamplesCount",             (void **) &dWorldSetAutoDisableAverageSamplesCount},
+//     {"dWorldGetAutoDisableSteps",                                   (void **) &dWorldGetAutoDisableSteps},
+//     {"dWorldSetAutoDisableSteps",                                   (void **) &dWorldSetAutoDisableSteps},
+//     {"dWorldGetAutoDisableTime",                                    (void **) &dWorldGetAutoDisableTime},
+//     {"dWorldSetAutoDisableTime",                                    (void **) &dWorldSetAutoDisableTime},
+//     {"dWorldGetAutoDisableFlag",                                    (void **) &dWorldGetAutoDisableFlag},
+//     {"dWorldSetAutoDisableFlag",                                    (void **) &dWorldSetAutoDisableFlag},
+//     {"dWorldGetLinearDampingThreshold",                             (void **) &dWorldGetLinearDampingThreshold},
+//     {"dWorldSetLinearDampingThreshold",                             (void **) &dWorldSetLinearDampingThreshold},
+//     {"dWorldGetAngularDampingThreshold",                    (void **) &dWorldGetAngularDampingThreshold},
+//     {"dWorldSetAngularDampingThreshold",                    (void **) &dWorldSetAngularDampingThreshold},
+//     {"dWorldGetLinearDamping",                                              (void **) &dWorldGetLinearDamping},
+//     {"dWorldSetLinearDamping",                                              (void **) &dWorldSetLinearDamping},
+//     {"dWorldGetAngularDamping",                                             (void **) &dWorldGetAngularDamping},
+//     {"dWorldSetAngularDamping",                                             (void **) &dWorldSetAngularDamping},
+//     {"dWorldSetDamping",                                                    (void **) &dWorldSetDamping},
+//     {"dWorldGetMaxAngularSpeed",                                    (void **) &dWorldGetMaxAngularSpeed},
+//     {"dWorldSetMaxAngularSpeed",                                    (void **) &dWorldSetMaxAngularSpeed},
+//     {"dBodyGetAutoDisableLinearThreshold",                  (void **) &dBodyGetAutoDisableLinearThreshold},
+//     {"dBodySetAutoDisableLinearThreshold",                  (void **) &dBodySetAutoDisableLinearThreshold},
+//     {"dBodyGetAutoDisableAngularThreshold",                 (void **) &dBodyGetAutoDisableAngularThreshold},
+//     {"dBodySetAutoDisableAngularThreshold",                 (void **) &dBodySetAutoDisableAngularThreshold},
+//     {"dBodyGetAutoDisableAverageSamplesCount",              (void **) &dBodyGetAutoDisableAverageSamplesCount},
+//     {"dBodySetAutoDisableAverageSamplesCount",              (void **) &dBodySetAutoDisableAverageSamplesCount},
+//     {"dBodyGetAutoDisableSteps",                                    (void **) &dBodyGetAutoDisableSteps},
+//     {"dBodySetAutoDisableSteps",                                    (void **) &dBodySetAutoDisableSteps},
+//     {"dBodyGetAutoDisableTime",                                             (void **) &dBodyGetAutoDisableTime},
+//     {"dBodySetAutoDisableTime",                                             (void **) &dBodySetAutoDisableTime},
+//     {"dBodyGetAutoDisableFlag",                                             (void **) &dBodyGetAutoDisableFlag},
+//     {"dBodySetAutoDisableFlag",                                             (void **) &dBodySetAutoDisableFlag},
+//     {"dBodySetAutoDisableDefaults",                                 (void **) &dBodySetAutoDisableDefaults},
+//     {"dBodyGetWorld",                                                               (void **) &dBodyGetWorld},
+       {"dBodyCreate",                                                                 (void **) &dBodyCreate},
+       {"dBodyDestroy",                                                                (void **) &dBodyDestroy},
+       {"dBodySetData",                                                                (void **) &dBodySetData},
+       {"dBodyGetData",                                                                (void **) &dBodyGetData},
+       {"dBodySetPosition",                                                    (void **) &dBodySetPosition},
+       {"dBodySetRotation",                                                    (void **) &dBodySetRotation},
+//     {"dBodySetQuaternion",                                                  (void **) &dBodySetQuaternion},
+       {"dBodySetLinearVel",                                                   (void **) &dBodySetLinearVel},
+       {"dBodySetAngularVel",                                                  (void **) &dBodySetAngularVel},
+       {"dBodyGetPosition",                                                    (void **) &dBodyGetPosition},
+//     {"dBodyCopyPosition",                                                   (void **) &dBodyCopyPosition},
+       {"dBodyGetRotation",                                                    (void **) &dBodyGetRotation},
+//     {"dBodyCopyRotation",                                                   (void **) &dBodyCopyRotation},
+//     {"dBodyGetQuaternion",                                                  (void **) &dBodyGetQuaternion},
+//     {"dBodyCopyQuaternion",                                                 (void **) &dBodyCopyQuaternion},
+       {"dBodyGetLinearVel",                                                   (void **) &dBodyGetLinearVel},
+       {"dBodyGetAngularVel",                                                  (void **) &dBodyGetAngularVel},
+       {"dBodySetMass",                                                                (void **) &dBodySetMass},
+//     {"dBodyGetMass",                                                                (void **) &dBodyGetMass},
+//     {"dBodyAddForce",                                                               (void **) &dBodyAddForce},
+//     {"dBodyAddTorque",                                                              (void **) &dBodyAddTorque},
+//     {"dBodyAddRelForce",                                                    (void **) &dBodyAddRelForce},
+//     {"dBodyAddRelTorque",                                                   (void **) &dBodyAddRelTorque},
+//     {"dBodyAddForceAtPos",                                                  (void **) &dBodyAddForceAtPos},
+//     {"dBodyAddForceAtRelPos",                                               (void **) &dBodyAddForceAtRelPos},
+//     {"dBodyAddRelForceAtPos",                                               (void **) &dBodyAddRelForceAtPos},
+//     {"dBodyAddRelForceAtRelPos",                                    (void **) &dBodyAddRelForceAtRelPos},
+//     {"dBodyGetForce",                                                               (void **) &dBodyGetForce},
+//     {"dBodyGetTorque",                                                              (void **) &dBodyGetTorque},
+//     {"dBodySetForce",                                                               (void **) &dBodySetForce},
+//     {"dBodySetTorque",                                                              (void **) &dBodySetTorque},
+//     {"dBodyGetRelPointPos",                                                 (void **) &dBodyGetRelPointPos},
+//     {"dBodyGetRelPointVel",                                                 (void **) &dBodyGetRelPointVel},
+//     {"dBodyGetPointVel",                                                    (void **) &dBodyGetPointVel},
+//     {"dBodyGetPosRelPoint",                                                 (void **) &dBodyGetPosRelPoint},
+//     {"dBodyVectorToWorld",                                                  (void **) &dBodyVectorToWorld},
+//     {"dBodyVectorFromWorld",                                                (void **) &dBodyVectorFromWorld},
+//     {"dBodySetFiniteRotationMode",                                  (void **) &dBodySetFiniteRotationMode},
+//     {"dBodySetFiniteRotationAxis",                                  (void **) &dBodySetFiniteRotationAxis},
+//     {"dBodyGetFiniteRotationMode",                                  (void **) &dBodyGetFiniteRotationMode},
+//     {"dBodyGetFiniteRotationAxis",                                  (void **) &dBodyGetFiniteRotationAxis},
+//     {"dBodyGetNumJoints",                                                   (void **) &dBodyGetNumJoints},
+//     {"dBodyGetJoint",                                                               (void **) &dBodyGetJoint},
+//     {"dBodySetDynamic",                                                             (void **) &dBodySetDynamic},
+//     {"dBodySetKinematic",                                                   (void **) &dBodySetKinematic},
+//     {"dBodyIsKinematic",                                                    (void **) &dBodyIsKinematic},
+//     {"dBodyEnable",                                                                 (void **) &dBodyEnable},
+//     {"dBodyDisable",                                                                (void **) &dBodyDisable},
+//     {"dBodyIsEnabled",                                                              (void **) &dBodyIsEnabled},
+       {"dBodySetGravityMode",                                                 (void **) &dBodySetGravityMode},
+       {"dBodyGetGravityMode",                                                 (void **) &dBodyGetGravityMode},
+//     {"dBodySetMovedCallback",                                               (void **) &dBodySetMovedCallback},
+//     {"dBodyGetFirstGeom",                                                   (void **) &dBodyGetFirstGeom},
+//     {"dBodyGetNextGeom",                                                    (void **) &dBodyGetNextGeom},
+//     {"dBodySetDampingDefaults",                                             (void **) &dBodySetDampingDefaults},
+//     {"dBodyGetLinearDamping",                                               (void **) &dBodyGetLinearDamping},
+//     {"dBodySetLinearDamping",                                               (void **) &dBodySetLinearDamping},
+//     {"dBodyGetAngularDamping",                                              (void **) &dBodyGetAngularDamping},
+//     {"dBodySetAngularDamping",                                              (void **) &dBodySetAngularDamping},
+//     {"dBodySetDamping",                                                             (void **) &dBodySetDamping},
+//     {"dBodyGetLinearDampingThreshold",                              (void **) &dBodyGetLinearDampingThreshold},
+//     {"dBodySetLinearDampingThreshold",                              (void **) &dBodySetLinearDampingThreshold},
+//     {"dBodyGetAngularDampingThreshold",                             (void **) &dBodyGetAngularDampingThreshold},
+//     {"dBodySetAngularDampingThreshold",                             (void **) &dBodySetAngularDampingThreshold},
+//     {"dBodyGetMaxAngularSpeed",                                             (void **) &dBodyGetMaxAngularSpeed},
+//     {"dBodySetMaxAngularSpeed",                                             (void **) &dBodySetMaxAngularSpeed},
+//     {"dBodyGetGyroscopicMode",                                              (void **) &dBodyGetGyroscopicMode},
+//     {"dBodySetGyroscopicMode",                                              (void **) &dBodySetGyroscopicMode},
+//     {"dJointCreateBall",                                                    (void **) &dJointCreateBall},
+//     {"dJointCreateHinge",                                                   (void **) &dJointCreateHinge},
+//     {"dJointCreateSlider",                                                  (void **) &dJointCreateSlider},
+       {"dJointCreateContact",                                                 (void **) &dJointCreateContact},
+//     {"dJointCreateHinge2",                                                  (void **) &dJointCreateHinge2},
+//     {"dJointCreateUniversal",                                               (void **) &dJointCreateUniversal},
+//     {"dJointCreatePR",                                                              (void **) &dJointCreatePR},
+//     {"dJointCreatePU",                                                              (void **) &dJointCreatePU},
+//     {"dJointCreatePiston",                                                  (void **) &dJointCreatePiston},
+//     {"dJointCreateFixed",                                                   (void **) &dJointCreateFixed},
+//     {"dJointCreateNull",                                                    (void **) &dJointCreateNull},
+//     {"dJointCreateAMotor",                                                  (void **) &dJointCreateAMotor},
+//     {"dJointCreateLMotor",                                                  (void **) &dJointCreateLMotor},
+//     {"dJointCreatePlane2D",                                                 (void **) &dJointCreatePlane2D},
+//     {"dJointDestroy",                                                               (void **) &dJointDestroy},
+       {"dJointGroupCreate",                                                   (void **) &dJointGroupCreate},
+       {"dJointGroupDestroy",                                                  (void **) &dJointGroupDestroy},
+       {"dJointGroupEmpty",                                                    (void **) &dJointGroupEmpty},
+//     {"dJointGetNumBodies",                                                  (void **) &dJointGetNumBodies},
+       {"dJointAttach",                                                                (void **) &dJointAttach},
+//     {"dJointEnable",                                                                (void **) &dJointEnable},
+//     {"dJointDisable",                                                               (void **) &dJointDisable},
+//     {"dJointIsEnabled",                                                             (void **) &dJointIsEnabled},
+//     {"dJointSetData",                                                               (void **) &dJointSetData},
+//     {"dJointGetData",                                                               (void **) &dJointGetData},
+//     {"dJointGetType",                                                               (void **) &dJointGetType},
+//     {"dJointGetBody",                                                               (void **) &dJointGetBody},
+//     {"dJointSetFeedback",                                                   (void **) &dJointSetFeedback},
+//     {"dJointGetFeedback",                                                   (void **) &dJointGetFeedback},
+//     {"dJointSetBallAnchor",                                                 (void **) &dJointSetBallAnchor},
+//     {"dJointSetBallAnchor2",                                                (void **) &dJointSetBallAnchor2},
+//     {"dJointSetBallParam",                                                  (void **) &dJointSetBallParam},
+//     {"dJointSetHingeAnchor",                                                (void **) &dJointSetHingeAnchor},
+//     {"dJointSetHingeAnchorDelta",                                   (void **) &dJointSetHingeAnchorDelta},
+//     {"dJointSetHingeAxis",                                                  (void **) &dJointSetHingeAxis},
+//     {"dJointSetHingeAxisOffset",                                    (void **) &dJointSetHingeAxisOffset},
+//     {"dJointSetHingeParam",                                                 (void **) &dJointSetHingeParam},
+//     {"dJointAddHingeTorque",                                                (void **) &dJointAddHingeTorque},
+//     {"dJointSetSliderAxis",                                                 (void **) &dJointSetSliderAxis},
+//     {"dJointSetSliderAxisDelta",                                    (void **) &dJointSetSliderAxisDelta},
+//     {"dJointSetSliderParam",                                                (void **) &dJointSetSliderParam},
+//     {"dJointAddSliderForce",                                                (void **) &dJointAddSliderForce},
+//     {"dJointSetHinge2Anchor",                                               (void **) &dJointSetHinge2Anchor},
+//     {"dJointSetHinge2Axis1",                                                (void **) &dJointSetHinge2Axis1},
+//     {"dJointSetHinge2Axis2",                                                (void **) &dJointSetHinge2Axis2},
+//     {"dJointSetHinge2Param",                                                (void **) &dJointSetHinge2Param},
+//     {"dJointAddHinge2Torques",                                              (void **) &dJointAddHinge2Torques},
+//     {"dJointSetUniversalAnchor",                                    (void **) &dJointSetUniversalAnchor},
+//     {"dJointSetUniversalAxis1",                                             (void **) &dJointSetUniversalAxis1},
+//     {"dJointSetUniversalAxis1Offset",                               (void **) &dJointSetUniversalAxis1Offset},
+//     {"dJointSetUniversalAxis2",                                             (void **) &dJointSetUniversalAxis2},
+//     {"dJointSetUniversalAxis2Offset",                               (void **) &dJointSetUniversalAxis2Offset},
+//     {"dJointSetUniversalParam",                                             (void **) &dJointSetUniversalParam},
+//     {"dJointAddUniversalTorques",                                   (void **) &dJointAddUniversalTorques},
+//     {"dJointSetPRAnchor",                                                   (void **) &dJointSetPRAnchor},
+//     {"dJointSetPRAxis1",                                                    (void **) &dJointSetPRAxis1},
+//     {"dJointSetPRAxis2",                                                    (void **) &dJointSetPRAxis2},
+//     {"dJointSetPRParam",                                                    (void **) &dJointSetPRParam},
+//     {"dJointAddPRTorque",                                                   (void **) &dJointAddPRTorque},
+//     {"dJointSetPUAnchor",                                                   (void **) &dJointSetPUAnchor},
+//     {"dJointSetPUAnchorOffset",                                             (void **) &dJointSetPUAnchorOffset},
+//     {"dJointSetPUAxis1",                                                    (void **) &dJointSetPUAxis1},
+//     {"dJointSetPUAxis2",                                                    (void **) &dJointSetPUAxis2},
+//     {"dJointSetPUAxis3",                                                    (void **) &dJointSetPUAxis3},
+//     {"dJointSetPUAxisP",                                                    (void **) &dJointSetPUAxisP},
+//     {"dJointSetPUParam",                                                    (void **) &dJointSetPUParam},
+//     {"dJointAddPUTorque",                                                   (void **) &dJointAddPUTorque},
+//     {"dJointSetPistonAnchor",                                               (void **) &dJointSetPistonAnchor},
+//     {"dJointSetPistonAnchorOffset",                                 (void **) &dJointSetPistonAnchorOffset},
+//     {"dJointSetPistonParam",                                                (void **) &dJointSetPistonParam},
+//     {"dJointAddPistonForce",                                                (void **) &dJointAddPistonForce},
+//     {"dJointSetFixed",                                                              (void **) &dJointSetFixed},
+//     {"dJointSetFixedParam",                                                 (void **) &dJointSetFixedParam},
+//     {"dJointSetAMotorNumAxes",                                              (void **) &dJointSetAMotorNumAxes},
+//     {"dJointSetAMotorAxis",                                                 (void **) &dJointSetAMotorAxis},
+//     {"dJointSetAMotorAngle",                                                (void **) &dJointSetAMotorAngle},
+//     {"dJointSetAMotorParam",                                                (void **) &dJointSetAMotorParam},
+//     {"dJointSetAMotorMode",                                                 (void **) &dJointSetAMotorMode},
+//     {"dJointAddAMotorTorques",                                              (void **) &dJointAddAMotorTorques},
+//     {"dJointSetLMotorNumAxes",                                              (void **) &dJointSetLMotorNumAxes},
+//     {"dJointSetLMotorAxis",                                                 (void **) &dJointSetLMotorAxis},
+//     {"dJointSetLMotorParam",                                                (void **) &dJointSetLMotorParam},
+//     {"dJointSetPlane2DXParam",                                              (void **) &dJointSetPlane2DXParam},
+//     {"dJointSetPlane2DYParam",                                              (void **) &dJointSetPlane2DYParam},
+//     {"dJointSetPlane2DAngleParam",                                  (void **) &dJointSetPlane2DAngleParam},
+//     {"dJointGetBallAnchor",                                                 (void **) &dJointGetBallAnchor},
+//     {"dJointGetBallAnchor2",                                                (void **) &dJointGetBallAnchor2},
+//     {"dJointGetBallParam",                                                  (void **) &dJointGetBallParam},
+//     {"dJointGetHingeAnchor",                                                (void **) &dJointGetHingeAnchor},
+//     {"dJointGetHingeAnchor2",                                               (void **) &dJointGetHingeAnchor2},
+//     {"dJointGetHingeAxis",                                                  (void **) &dJointGetHingeAxis},
+//     {"dJointGetHingeParam",                                                 (void **) &dJointGetHingeParam},
+//     {"dJointGetHingeAngle",                                                 (void **) &dJointGetHingeAngle},
+//     {"dJointGetHingeAngleRate",                                             (void **) &dJointGetHingeAngleRate},
+//     {"dJointGetSliderPosition",                                             (void **) &dJointGetSliderPosition},
+//     {"dJointGetSliderPositionRate",                                 (void **) &dJointGetSliderPositionRate},
+//     {"dJointGetSliderAxis",                                                 (void **) &dJointGetSliderAxis},
+//     {"dJointGetSliderParam",                                                (void **) &dJointGetSliderParam},
+//     {"dJointGetHinge2Anchor",                                               (void **) &dJointGetHinge2Anchor},
+//     {"dJointGetHinge2Anchor2",                                              (void **) &dJointGetHinge2Anchor2},
+//     {"dJointGetHinge2Axis1",                                                (void **) &dJointGetHinge2Axis1},
+//     {"dJointGetHinge2Axis2",                                                (void **) &dJointGetHinge2Axis2},
+//     {"dJointGetHinge2Param",                                                (void **) &dJointGetHinge2Param},
+//     {"dJointGetHinge2Angle1",                                               (void **) &dJointGetHinge2Angle1},
+//     {"dJointGetHinge2Angle1Rate",                                   (void **) &dJointGetHinge2Angle1Rate},
+//     {"dJointGetHinge2Angle2Rate",                                   (void **) &dJointGetHinge2Angle2Rate},
+//     {"dJointGetUniversalAnchor",                                    (void **) &dJointGetUniversalAnchor},
+//     {"dJointGetUniversalAnchor2",                                   (void **) &dJointGetUniversalAnchor2},
+//     {"dJointGetUniversalAxis1",                                             (void **) &dJointGetUniversalAxis1},
+//     {"dJointGetUniversalAxis2",                                             (void **) &dJointGetUniversalAxis2},
+//     {"dJointGetUniversalParam",                                             (void **) &dJointGetUniversalParam},
+//     {"dJointGetUniversalAngles",                                    (void **) &dJointGetUniversalAngles},
+//     {"dJointGetUniversalAngle1",                                    (void **) &dJointGetUniversalAngle1},
+//     {"dJointGetUniversalAngle2",                                    (void **) &dJointGetUniversalAngle2},
+//     {"dJointGetUniversalAngle1Rate",                                (void **) &dJointGetUniversalAngle1Rate},
+//     {"dJointGetUniversalAngle2Rate",                                (void **) &dJointGetUniversalAngle2Rate},
+//     {"dJointGetPRAnchor",                                                   (void **) &dJointGetPRAnchor},
+//     {"dJointGetPRPosition",                                                 (void **) &dJointGetPRPosition},
+//     {"dJointGetPRPositionRate",                                             (void **) &dJointGetPRPositionRate},
+//     {"dJointGetPRAngle",                                                    (void **) &dJointGetPRAngle},
+//     {"dJointGetPRAngleRate",                                                (void **) &dJointGetPRAngleRate},
+//     {"dJointGetPRAxis1",                                                    (void **) &dJointGetPRAxis1},
+//     {"dJointGetPRAxis2",                                                    (void **) &dJointGetPRAxis2},
+//     {"dJointGetPRParam",                                                    (void **) &dJointGetPRParam},
+//     {"dJointGetPUAnchor",                                                   (void **) &dJointGetPUAnchor},
+//     {"dJointGetPUPosition",                                                 (void **) &dJointGetPUPosition},
+//     {"dJointGetPUPositionRate",                                             (void **) &dJointGetPUPositionRate},
+//     {"dJointGetPUAxis1",                                                    (void **) &dJointGetPUAxis1},
+//     {"dJointGetPUAxis2",                                                    (void **) &dJointGetPUAxis2},
+//     {"dJointGetPUAxis3",                                                    (void **) &dJointGetPUAxis3},
+//     {"dJointGetPUAxisP",                                                    (void **) &dJointGetPUAxisP},
+//     {"dJointGetPUAngles",                                                   (void **) &dJointGetPUAngles},
+//     {"dJointGetPUAngle1",                                                   (void **) &dJointGetPUAngle1},
+//     {"dJointGetPUAngle1Rate",                                               (void **) &dJointGetPUAngle1Rate},
+//     {"dJointGetPUAngle2",                                                   (void **) &dJointGetPUAngle2},
+//     {"dJointGetPUAngle2Rate",                                               (void **) &dJointGetPUAngle2Rate},
+//     {"dJointGetPUParam",                                                    (void **) &dJointGetPUParam},
+//     {"dJointGetPistonPosition",                                             (void **) &dJointGetPistonPosition},
+//     {"dJointGetPistonPositionRate",                                 (void **) &dJointGetPistonPositionRate},
+//     {"dJointGetPistonAngle",                                                (void **) &dJointGetPistonAngle},
+//     {"dJointGetPistonAngleRate",                                    (void **) &dJointGetPistonAngleRate},
+//     {"dJointGetPistonAnchor",                                               (void **) &dJointGetPistonAnchor},
+//     {"dJointGetPistonAnchor2",                                              (void **) &dJointGetPistonAnchor2},
+//     {"dJointGetPistonAxis",                                                 (void **) &dJointGetPistonAxis},
+//     {"dJointGetPistonParam",                                                (void **) &dJointGetPistonParam},
+//     {"dJointGetAMotorNumAxes",                                              (void **) &dJointGetAMotorNumAxes},
+//     {"dJointGetAMotorAxis",                                                 (void **) &dJointGetAMotorAxis},
+//     {"dJointGetAMotorAxisRel",                                              (void **) &dJointGetAMotorAxisRel},
+//     {"dJointGetAMotorAngle",                                                (void **) &dJointGetAMotorAngle},
+//     {"dJointGetAMotorAngleRate",                                    (void **) &dJointGetAMotorAngleRate},
+//     {"dJointGetAMotorParam",                                                (void **) &dJointGetAMotorParam},
+//     {"dJointGetAMotorMode",                                                 (void **) &dJointGetAMotorMode},
+//     {"dJointGetLMotorNumAxes",                                              (void **) &dJointGetLMotorNumAxes},
+//     {"dJointGetLMotorAxis",                                                 (void **) &dJointGetLMotorAxis},
+//     {"dJointGetLMotorParam",                                                (void **) &dJointGetLMotorParam},
+//     {"dJointGetFixedParam",                                                 (void **) &dJointGetFixedParam},
+//     {"dConnectingJoint",                                                    (void **) &dConnectingJoint},
+//     {"dConnectingJointList",                                                (void **) &dConnectingJointList},
+       {"dAreConnected",                                                               (void **) &dAreConnected},
+       {"dAreConnectedExcluding",                                              (void **) &dAreConnectedExcluding},
+       {"dSimpleSpaceCreate",                                                  (void **) &dSimpleSpaceCreate},
+       {"dHashSpaceCreate",                                                    (void **) &dHashSpaceCreate},
+       {"dQuadTreeSpaceCreate",                                                (void **) &dQuadTreeSpaceCreate},
+//     {"dSweepAndPruneSpaceCreate",                                   (void **) &dSweepAndPruneSpaceCreate},
+       {"dSpaceDestroy",                                                               (void **) &dSpaceDestroy},
+//     {"dHashSpaceSetLevels",                                                 (void **) &dHashSpaceSetLevels},
+//     {"dHashSpaceGetLevels",                                                 (void **) &dHashSpaceGetLevels},
+//     {"dSpaceSetCleanup",                                                    (void **) &dSpaceSetCleanup},
+//     {"dSpaceGetCleanup",                                                    (void **) &dSpaceGetCleanup},
+//     {"dSpaceSetSublevel",                                                   (void **) &dSpaceSetSublevel},
+//     {"dSpaceGetSublevel",                                                   (void **) &dSpaceGetSublevel},
+//     {"dSpaceSetManualCleanup",                                              (void **) &dSpaceSetManualCleanup},
+//     {"dSpaceGetManualCleanup",                                              (void **) &dSpaceGetManualCleanup},
+//     {"dSpaceAdd",                                                                   (void **) &dSpaceAdd},
+//     {"dSpaceRemove",                                                                (void **) &dSpaceRemove},
+//     {"dSpaceQuery",                                                                 (void **) &dSpaceQuery},
+//     {"dSpaceClean",                                                                 (void **) &dSpaceClean},
+//     {"dSpaceGetNumGeoms",                                                   (void **) &dSpaceGetNumGeoms},
+//     {"dSpaceGetGeom",                                                               (void **) &dSpaceGetGeom},
+//     {"dSpaceGetClass",                                                              (void **) &dSpaceGetClass},
+       {"dGeomDestroy",                                                                (void **) &dGeomDestroy},
+//     {"dGeomSetData",                                                                (void **) &dGeomSetData},
+//     {"dGeomGetData",                                                                (void **) &dGeomGetData},
+       {"dGeomSetBody",                                                                (void **) &dGeomSetBody},
+       {"dGeomGetBody",                                                                (void **) &dGeomGetBody},
+//     {"dGeomSetPosition",                                                    (void **) &dGeomSetPosition},
+       {"dGeomSetRotation",                                                    (void **) &dGeomSetRotation},
+//     {"dGeomSetQuaternion",                                                  (void **) &dGeomSetQuaternion},
+//     {"dGeomGetPosition",                                                    (void **) &dGeomGetPosition},
+//     {"dGeomCopyPosition",                                                   (void **) &dGeomCopyPosition},
+//     {"dGeomGetRotation",                                                    (void **) &dGeomGetRotation},
+//     {"dGeomCopyRotation",                                                   (void **) &dGeomCopyRotation},
+//     {"dGeomGetQuaternion",                                                  (void **) &dGeomGetQuaternion},
+//     {"dGeomGetAABB",                                                                (void **) &dGeomGetAABB},
+       {"dGeomIsSpace",                                                                (void **) &dGeomIsSpace},
+//     {"dGeomGetSpace",                                                               (void **) &dGeomGetSpace},
+//     {"dGeomGetClass",                                                               (void **) &dGeomGetClass},
+//     {"dGeomSetCategoryBits",                                                (void **) &dGeomSetCategoryBits},
+//     {"dGeomSetCollideBits",                                                 (void **) &dGeomSetCollideBits},
+//     {"dGeomGetCategoryBits",                                                (void **) &dGeomGetCategoryBits},
+//     {"dGeomGetCollideBits",                                                 (void **) &dGeomGetCollideBits},
+//     {"dGeomEnable",                                                                 (void **) &dGeomEnable},
+//     {"dGeomDisable",                                                                (void **) &dGeomDisable},
+//     {"dGeomIsEnabled",                                                              (void **) &dGeomIsEnabled},
+//     {"dGeomSetOffsetPosition",                                              (void **) &dGeomSetOffsetPosition},
+//     {"dGeomSetOffsetRotation",                                              (void **) &dGeomSetOffsetRotation},
+//     {"dGeomSetOffsetQuaternion",                                    (void **) &dGeomSetOffsetQuaternion},
+//     {"dGeomSetOffsetWorldPosition",                                 (void **) &dGeomSetOffsetWorldPosition},
+//     {"dGeomSetOffsetWorldRotation",                                 (void **) &dGeomSetOffsetWorldRotation},
+//     {"dGeomSetOffsetWorldQuaternion",                               (void **) &dGeomSetOffsetWorldQuaternion},
+//     {"dGeomClearOffset",                                                    (void **) &dGeomClearOffset},
+//     {"dGeomIsOffset",                                                               (void **) &dGeomIsOffset},
+//     {"dGeomGetOffsetPosition",                                              (void **) &dGeomGetOffsetPosition},
+//     {"dGeomCopyOffsetPosition",                                             (void **) &dGeomCopyOffsetPosition},
+//     {"dGeomGetOffsetRotation",                                              (void **) &dGeomGetOffsetRotation},
+//     {"dGeomCopyOffsetRotation",                                             (void **) &dGeomCopyOffsetRotation},
+//     {"dGeomGetOffsetQuaternion",                                    (void **) &dGeomGetOffsetQuaternion},
+       {"dCollide",                                                                    (void **) &dCollide},
+       {"dSpaceCollide",                                                               (void **) &dSpaceCollide},
+       {"dSpaceCollide2",                                                              (void **) &dSpaceCollide2},
+       {"dCreateSphere",                                                               (void **) &dCreateSphere},
+//     {"dGeomSphereSetRadius",                                                (void **) &dGeomSphereSetRadius},
+//     {"dGeomSphereGetRadius",                                                (void **) &dGeomSphereGetRadius},
+//     {"dGeomSpherePointDepth",                                               (void **) &dGeomSpherePointDepth},
+//     {"dCreateConvex",                                                               (void **) &dCreateConvex},
+//     {"dGeomSetConvex",                                                              (void **) &dGeomSetConvex},
+       {"dCreateBox",                                                                  (void **) &dCreateBox},
+//     {"dGeomBoxSetLengths",                                                  (void **) &dGeomBoxSetLengths},
+//     {"dGeomBoxGetLengths",                                                  (void **) &dGeomBoxGetLengths},
+//     {"dGeomBoxPointDepth",                                                  (void **) &dGeomBoxPointDepth},
+//     {"dGeomBoxPointDepth",                                                  (void **) &dGeomBoxPointDepth},
+//     {"dCreatePlane",                                                                (void **) &dCreatePlane},
+//     {"dGeomPlaneSetParams",                                                 (void **) &dGeomPlaneSetParams},
+//     {"dGeomPlaneGetParams",                                                 (void **) &dGeomPlaneGetParams},
+//     {"dGeomPlanePointDepth",                                                (void **) &dGeomPlanePointDepth},
+       {"dCreateCapsule",                                                              (void **) &dCreateCapsule},
+//     {"dGeomCapsuleSetParams",                                               (void **) &dGeomCapsuleSetParams},
+//     {"dGeomCapsuleGetParams",                                               (void **) &dGeomCapsuleGetParams},
+//     {"dGeomCapsulePointDepth",                                              (void **) &dGeomCapsulePointDepth},
+//     {"dCreateCylinder",                                                             (void **) &dCreateCylinder},
+//     {"dGeomCylinderSetParams",                                              (void **) &dGeomCylinderSetParams},
+//     {"dGeomCylinderGetParams",                                              (void **) &dGeomCylinderGetParams},
+//     {"dCreateRay",                                                                  (void **) &dCreateRay},
+//     {"dGeomRaySetLength",                                                   (void **) &dGeomRaySetLength},
+//     {"dGeomRayGetLength",                                                   (void **) &dGeomRayGetLength},
+//     {"dGeomRaySet",                                                                 (void **) &dGeomRaySet},
+//     {"dGeomRayGet",                                                                 (void **) &dGeomRayGet},
+       {"dCreateGeomTransform",                                                (void **) &dCreateGeomTransform},
+       {"dGeomTransformSetGeom",                                               (void **) &dGeomTransformSetGeom},
+//     {"dGeomTransformGetGeom",                                               (void **) &dGeomTransformGetGeom},
+       {"dGeomTransformSetCleanup",                                    (void **) &dGeomTransformSetCleanup},
+//     {"dGeomTransformGetCleanup",                                    (void **) &dGeomTransformGetCleanup},
+//     {"dGeomTransformSetInfo",                                               (void **) &dGeomTransformSetInfo},
+//     {"dGeomTransformGetInfo",                                               (void **) &dGeomTransformGetInfo},
+       {"dGeomTriMeshDataCreate",                      (void **) &dGeomTriMeshDataCreate},
+       {"dGeomTriMeshDataDestroy",                     (void **) &dGeomTriMeshDataDestroy},
+//     {"dGeomTriMeshDataSet",                         (void **) &dGeomTriMeshDataSet},
+//     {"dGeomTriMeshDataGet",                         (void **) &dGeomTriMeshDataGet},
+//     {"dGeomTriMeshSetLastTransform",                (void **) &dGeomTriMeshSetLastTransform},
+//     {"dGeomTriMeshGetLastTransform",                (void **) &dGeomTriMeshGetLastTransform},
+       {"dGeomTriMeshDataBuildSingle",                 (void **) &dGeomTriMeshDataBuildSingle},
+//     {"dGeomTriMeshDataBuildSingle1",                (void **) &dGeomTriMeshDataBuildSingle1},
+//     {"dGeomTriMeshDataBuildDouble",                 (void **) &dGeomTriMeshDataBuildDouble},
+//     {"dGeomTriMeshDataBuildDouble1",                (void **) &dGeomTriMeshDataBuildDouble1},
+//     {"dGeomTriMeshDataBuildSimple",                 (void **) &dGeomTriMeshDataBuildSimple},
+//     {"dGeomTriMeshDataBuildSimple1",                (void **) &dGeomTriMeshDataBuildSimple1},
+//     {"dGeomTriMeshDataPreprocess",                  (void **) &dGeomTriMeshDataPreprocess},
+//     {"dGeomTriMeshDataGetBuffer",                   (void **) &dGeomTriMeshDataGetBuffer},
+//     {"dGeomTriMeshDataSetBuffer",                   (void **) &dGeomTriMeshDataSetBuffer},
+//     {"dGeomTriMeshSetCallback",                     (void **) &dGeomTriMeshSetCallback},
+//     {"dGeomTriMeshGetCallback",                     (void **) &dGeomTriMeshGetCallback},
+//     {"dGeomTriMeshSetArrayCallback",                (void **) &dGeomTriMeshSetArrayCallback},
+//     {"dGeomTriMeshGetArrayCallback",                (void **) &dGeomTriMeshGetArrayCallback},
+//     {"dGeomTriMeshSetRayCallback",                  (void **) &dGeomTriMeshSetRayCallback},
+//     {"dGeomTriMeshGetRayCallback",                  (void **) &dGeomTriMeshGetRayCallback},
+//     {"dGeomTriMeshSetTriMergeCallback",             (void **) &dGeomTriMeshSetTriMergeCallback},
+//     {"dGeomTriMeshGetTriMergeCallback",             (void **) &dGeomTriMeshGetTriMergeCallback},
+       {"dCreateTriMesh",                              (void **) &dCreateTriMesh},
+//     {"dGeomTriMeshSetData",                         (void **) &dGeomTriMeshSetData},
+//     {"dGeomTriMeshGetData",                         (void **) &dGeomTriMeshGetData},
+//     {"dGeomTriMeshEnableTC",                        (void **) &dGeomTriMeshEnableTC},
+//     {"dGeomTriMeshIsTCEnabled",                     (void **) &dGeomTriMeshIsTCEnabled},
+//     {"dGeomTriMeshClearTCCache",                    (void **) &dGeomTriMeshClearTCCache},
+//     {"dGeomTriMeshGetTriMeshDataID",                (void **) &dGeomTriMeshGetTriMeshDataID},
+//     {"dGeomTriMeshGetTriangle",                     (void **) &dGeomTriMeshGetTriangle},
+//     {"dGeomTriMeshGetPoint",                        (void **) &dGeomTriMeshGetPoint},
+//     {"dGeomTriMeshGetTriangleCount",                (void **) &dGeomTriMeshGetTriangleCount},
+//     {"dGeomTriMeshDataUpdate",                      (void **) &dGeomTriMeshDataUpdate},
+       {NULL, NULL}
+};
+
+// Handle for ODE DLL
+dllhandle_t ode_dll = NULL;
+#endif
+#endif
 
 
-loc0:
-// touch linked edicts
-       for (l = node->trigger_edicts.next ; l != &node->trigger_edicts ; l = next)
+static void World_Physics_Init(void)
+{
+#ifdef USEODE
+#ifdef ODE_DYNAMIC
+       const char* dllnames [] =
        {
        {
-               next = l->next;
-               touch = EDICT_FROM_AREA(l);
-               if (touch == ent)
-                       continue;
-               if (!touch->v.touch || touch->v.solid != SOLID_TRIGGER)
-                       continue;
-               if (ent->v.absmin[0] > touch->v.absmax[0]
-                || ent->v.absmin[1] > touch->v.absmax[1]
-                || ent->v.absmin[2] > touch->v.absmax[2]
-                || ent->v.absmax[0] < touch->v.absmin[0]
-                || ent->v.absmax[1] < touch->v.absmin[1]
-                || ent->v.absmax[2] < touch->v.absmin[2])
-                       continue;
-               old_self = pr_global_struct->self;
-               old_other = pr_global_struct->other;
-
-               pr_global_struct->self = EDICT_TO_PROG(touch);
-               pr_global_struct->other = EDICT_TO_PROG(ent);
-               pr_global_struct->time = sv.time;
-               PR_ExecuteProgram (touch->v.touch, "");
-
-               pr_global_struct->self = old_self;
-               pr_global_struct->other = old_other;
-       }
-
-// recurse down both sides
-       if (node->axis == -1)
-               return;
+# if defined(WIN64)
+               "libode1_64.dll",
+# elif defined(WIN32)
+               "libode1.dll",
+# elif defined(MACOSX)
+               "libode.1.dylib",
+# else
+               "libode.so.1",
+# endif
+               NULL
+       };
+#endif
 
 
-       // LordHavoc: optimized recursion
-//     if (ent->v.absmax[node->axis] > node->dist) SV_TouchLinks (ent, node->children[0]);
-//     if (ent->v.absmin[node->axis] < node->dist) SV_TouchLinks (ent, node->children[1]);
-       if (ent->v.absmax[node->axis] > node->dist)
-       {
-               if (ent->v.absmin[node->axis] < node->dist)
-                       SV_TouchLinks(ent, node->children[1]); // order reversed to reduce code
-               node = node->children[0];
-               goto loc0;
-       }
-       else
+       Cvar_RegisterVariable(&physics_ode_quadtree_depth);
+       Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
+       Cvar_RegisterVariable(&physics_ode_worldquickstep);
+       Cvar_RegisterVariable(&physics_ode_worldquickstep_iterations);
+       Cvar_RegisterVariable(&physics_ode_worldstepfast);
+       Cvar_RegisterVariable(&physics_ode_worldstepfast_iterations);
+       Cvar_RegisterVariable(&physics_ode_contact_mu);
+       Cvar_RegisterVariable(&physics_ode_contact_erp);
+       Cvar_RegisterVariable(&physics_ode_contact_cfm);
+       Cvar_RegisterVariable(&physics_ode_world_erp);
+       Cvar_RegisterVariable(&physics_ode_world_cfm);
+       Cvar_RegisterVariable(&physics_ode_iterationsperframe);
+       Cvar_RegisterVariable(&physics_ode_movelimit);
+       Cvar_RegisterVariable(&physics_ode_spinlimit);
+
+#ifdef ODE_DYNAMIC
+       // Load the DLL
+       if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
+#endif
        {
        {
-               if (ent->v.absmin[node->axis] < node->dist)
+               dInitODE();
+//             dInitODE2(0);
+#ifdef ODE_DNYAMIC
+# ifdef dSINGLE
+               if (!dCheckConfiguration("ODE_single_precision"))
+# else
+               if (!dCheckConfiguration("ODE_double_precision"))
+# endif
                {
                {
-                       node = node->children[1];
-                       goto loc0;
+# ifdef dSINGLE
+                       Con_Printf("ode library not compiled for single precision - incompatible!  Not using ODE physics.\n");
+# else
+                       Con_Printf("ode library not compiled for double precision - incompatible!  Not using ODE physics.\n");
+# endif
+                       Sys_UnloadLibrary(&ode_dll);
+                       ode_dll = NULL;
                }
                }
+#endif
        }
        }
+#endif
 }
 
 }
 
-
-/*
-===============
-SV_LinkEdict
-
-===============
-*/
-void SV_LinkEdict (edict_t *ent, qboolean touch_triggers)
+static void World_Physics_Shutdown(void)
 {
 {
-       areanode_t      *node;
-
-       if (ent->area.prev)
-               SV_UnlinkEdict (ent);   // unlink from old position
-               
-       if (ent == sv.edicts)
-               return;         // don't add the world
-
-       if (ent->free)
-               return;
-
-// set the abs box
-
-// LordHavoc: enabling rotating bmodels
-       if (ent->v.solid == SOLID_BSP && (ent->v.angles[0] || ent->v.angles[1] || ent->v.angles[2]))
-       {
-               // expand for rotation
-               float           max, v;
-               int                     i;
-
-               max = DotProduct(ent->v.mins, ent->v.mins);
-               v = DotProduct(ent->v.maxs, ent->v.maxs);
-               if (max < v)
-                       max = v;
-               max = sqrt(max);
-               /*
-               max = 0;
-               for (i=0 ; i<3 ; i++)
-               {
-                       v = fabs(ent->v.mins[i]);
-                       if (max < v)
-                               max = v;
-                       v = fabs(ent->v.maxs[i]);
-                       if (max < v)
-                               max = v;
-               }
-               */
-               for (i=0 ; i<3 ; i++)
-               {
-                       ent->v.absmin[i] = ent->v.origin[i] - max;
-                       ent->v.absmax[i] = ent->v.origin[i] + max;
-               }
-       }
-       else
+#ifdef USEODE
+#ifdef ODE_DYNAMIC
+       if (ode_dll)
+#endif
        {
        {
-               VectorAdd (ent->v.origin, ent->v.mins, ent->v.absmin);
-               VectorAdd (ent->v.origin, ent->v.maxs, ent->v.absmax);
+               dCloseODE();
+#ifdef ODE_DYNAMIC
+               Sys_UnloadLibrary(&ode_dll);
+               ode_dll = NULL;
+#endif
        }
        }
+#endif
+}
 
 
-//
-// to make items easier to pick up and allow them to be grabbed off
-// of shelves, the abs sizes are expanded
-//
-       if ((int)ent->v.flags & FL_ITEM)
-       {
-               ent->v.absmin[0] -= 15;
-               ent->v.absmin[1] -= 15;
-               ent->v.absmax[0] += 15;
-               ent->v.absmax[1] += 15;
-       }
-       else
-       {
-               // because movement is clipped an epsilon away from an actual edge,
-               // we must fully check even when bounding boxes don't quite touch
-               ent->v.absmin[0] -= 1;
-               ent->v.absmin[1] -= 1;
-               ent->v.absmin[2] -= 1;
-               ent->v.absmax[0] += 1;
-               ent->v.absmax[1] += 1;
-               ent->v.absmax[2] += 1;
-       }
+#ifdef USEODE
+static void World_Physics_EnableODE(world_t *world)
+{
+       dVector3 center, extents;
+       if (world->physics.ode)
+               return;
+#ifdef ODE_DYNAMIC
+       if (!ode_dll)
+               return;
+#endif
+       world->physics.ode = true;
+       VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
+       VectorSubtract(world->maxs, center, extents);
+       world->physics.ode_world = dWorldCreate();
+       world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
+       world->physics.ode_contactgroup = dJointGroupCreate(0);
+       if(physics_ode_world_erp.value >= 0)
+               dWorldSetERP(world->physics.ode_world, physics_ode_world_erp.value);
+       if(physics_ode_world_cfm.value >= 0)
+               dWorldSetCFM(world->physics.ode_world, physics_ode_world_cfm.value);
+}
+#endif
 
 
-       if (ent->v.solid == SOLID_NOT)
+static void World_Physics_Start(world_t *world)
+{
+#ifdef USEODE
+       if (world->physics.ode)
                return;
                return;
+       World_Physics_EnableODE(world);
+#endif
+}
 
 
-// find the first node that the ent's box crosses
-       node = sv_areanodes;
-       while (1)
+static void World_Physics_End(world_t *world)
+{
+#ifdef USEODE
+       if (world->physics.ode)
        {
        {
-               if (node->axis == -1)
-                       break;
-               if (ent->v.absmin[node->axis] > node->dist)
-                       node = node->children[0];
-               else if (ent->v.absmax[node->axis] < node->dist)
-                       node = node->children[1];
-               else
-                       break;          // crosses the node
+               dWorldDestroy(world->physics.ode_world);
+               dSpaceDestroy(world->physics.ode_space);
+               dJointGroupDestroy(world->physics.ode_contactgroup);
+               world->physics.ode = false;
        }
        }
-
-// link it in
-
-       if (ent->v.solid == SOLID_TRIGGER)
-               InsertLinkBefore (&ent->area, &node->trigger_edicts);
-       else
-               InsertLinkBefore (&ent->area, &node->solid_edicts);
-
-// if touch_triggers, touch all entities at this node and descend for more
-       if (touch_triggers)
-               SV_TouchLinks ( ent, sv_areanodes );
+#endif
 }
 
 }
 
-
-
-/*
-===============================================================================
-
-POINT TESTING IN HULLS
-
-===============================================================================
-*/
-
-/*
-==================
-SV_HullPointContents
-
-==================
-*/
-int SV_HullPointContents (hull_t *hull, int num, vec3_t p)
+void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
 {
 {
-       while (num >= 0)
-               num = hull->clipnodes[num].children[(hull->planes[hull->clipnodes[num].planenum].type < 3 ? p[hull->planes[hull->clipnodes[num].planenum].type] : DotProduct (hull->planes[hull->clipnodes[num].planenum].normal, p)) < hull->planes[hull->clipnodes[num].planenum].dist];
-
-       return num;
+       ed->priv.server->ode_joint_type = 0;
+#ifdef USEODE
+       if(ed->priv.server->ode_joint)
+               dJointDestroy((dJointID)ed->priv.server->ode_joint);
+       ed->priv.server->ode_joint = NULL;
+#endif
 }
 
 }
 
-/*
-============
-SV_TestEntityPosition
-
-This could be a lot more efficient...
-============
-*/
-edict_t        *SV_TestEntityPosition (edict_t *ent)
+void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
 {
 {
-       trace_t trace;
-
-       trace = SV_Move (ent->v.origin, ent->v.mins, ent->v.maxs, ent->v.origin, MOVE_NORMAL, ent);
-
-       if (trace.startsolid)
-               return sv.edicts;
-
-       return NULL;
+       // entity is not physics controlled, free any physics data
+       prvm_edict_t *ed2;
+       ed->priv.server->ode_physics = false;
+#ifdef USEODE
+       if (ed->priv.server->ode_geom)
+               dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
+       ed->priv.server->ode_geom = NULL;
+       if (ed->priv.server->ode_body)
+       {
+               dJointID j;
+               dBodyID b1, b2;
+               while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
+               {
+                       j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
+                       ed2 = (prvm_edict_t *) dJointGetData(j);
+                       b1 = dJointGetBody(j, 0);
+                       b2 = dJointGetBody(j, 1);
+                       if(b1 == (dBodyID)ed->priv.server->ode_body)
+                       {
+                               b1 = 0;
+                               ed2->priv.server->ode_joint_enemy = 0;
+                       }
+                       if(b2 == (dBodyID)ed->priv.server->ode_body)
+                       {
+                               b2 = 0;
+                               ed2->priv.server->ode_joint_aiment = 0;
+                       }
+                       dJointAttach(j, b1, b2);
+               }
+               dBodyDestroy((dBodyID)ed->priv.server->ode_body);
+       }
+       ed->priv.server->ode_body = NULL;
+#endif
+       if (ed->priv.server->ode_vertex3f)
+               Mem_Free(ed->priv.server->ode_vertex3f);
+       ed->priv.server->ode_vertex3f = NULL;
+       ed->priv.server->ode_numvertices = 0;
+       if (ed->priv.server->ode_element3i)
+               Mem_Free(ed->priv.server->ode_element3i);
+       ed->priv.server->ode_element3i = NULL;
+       ed->priv.server->ode_numtriangles = 0;
 }
 
 }
 
+#ifdef USEODE
+static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
+{
+       const dReal *avel;
+       const dReal *o;
+       const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
+       const dReal *vel;
+       dBodyID body = (dBodyID)ed->priv.server->ode_body;
+       int movetype;
+       matrix4x4_t bodymatrix;
+       matrix4x4_t entitymatrix;
+       prvm_eval_t *val;
+       vec3_t angles;
+       vec3_t avelocity;
+       vec3_t forward, left, up;
+       vec3_t origin;
+       vec3_t spinvelocity;
+       vec3_t velocity;
+       int jointtype;
+       if (!body)
+               return;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
+       movetype = (int)val->_float;
+       if (movetype != MOVETYPE_PHYSICS)
+       {
+               val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
+               switch(jointtype)
+               {
+                       // TODO feed back data from physics
+                       case JOINTTYPE_POINT:
+                               break;
+                       case JOINTTYPE_HINGE:
+                               break;
+                       case JOINTTYPE_SLIDER:
+                               break;
+                       case JOINTTYPE_UNIVERSAL:
+                               break;
+                       case JOINTTYPE_HINGE2:
+                               break;
+               }
+               return;
+       }
+       // store the physics engine data into the entity
+       o = dBodyGetPosition(body);
+       r = dBodyGetRotation(body);
+       vel = dBodyGetLinearVel(body);
+       avel = dBodyGetAngularVel(body);
+       VectorCopy(o, origin);
+       forward[0] = r[0];
+       forward[1] = r[4];
+       forward[2] = r[8];
+       left[0] = r[1];
+       left[1] = r[5];
+       left[2] = r[9];
+       up[0] = r[2];
+       up[1] = r[6];
+       up[2] = r[10];
+       VectorCopy(vel, velocity);
+       VectorCopy(avel, spinvelocity);
+       Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
+       Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
+       Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
+
+       AnglesFromVectors(angles, forward, up, false);
+       VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));
 
 
-/*
-===============================================================================
-
-LINE TESTING IN HULLS
-
-===============================================================================
-*/
-
-// 1/32 epsilon to keep floating point happy
-#define DIST_EPSILON (0.03125)
-
-#define HULLCHECKSTATE_EMPTY 0
-#define HULLCHECKSTATE_SOLID 1
-#define HULLCHECKSTATE_DONE 2
+       {
+               float pitchsign = 1;
+               if(!strcmp(prog->name, "server")) // FIXME some better way?
+               {
+                       pitchsign = SV_GetPitchSign(ed);
+               }
+               else if(!strcmp(prog->name, "client"))
+               {
+                       pitchsign = CL_GetPitchSign(ed);
+               }
+               angles[PITCH] *= pitchsign;
+               avelocity[PITCH] *= pitchsign;
+       }
 
 
-// LordHavoc: FIXME: this is not thread safe, if threading matters here, pass
-// this as a struct to RecursiveHullCheck, RecursiveHullCheck_Impact, etc...
-RecursiveHullCheckTraceInfo_t RecursiveHullCheckInfo;
-#define RHC RecursiveHullCheckInfo
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector);
+       //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector);
+       //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector);
+       //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector);
+       //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(angles, val->vector);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(avelocity, val->vector);
+
+       // values for BodyFromEntity to check if the qc modified anything later
+       VectorCopy(origin, ed->priv.server->ode_origin);
+       VectorCopy(velocity, ed->priv.server->ode_velocity);
+       VectorCopy(angles, ed->priv.server->ode_angles);
+       VectorCopy(avelocity, ed->priv.server->ode_avelocity);
+       ed->priv.server->ode_gravity = dBodyGetGravityMode(body);
+}
 
 
-void SV_RecursiveHullCheck_Impact (mplane_t *plane, int side)
+static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
 {
 {
-       // LordHavoc: using doubles for extra accuracy
-       double t1, t2, frac;
-
-       // LordHavoc: now that we have found the impact, recalculate the impact
-       // point from scratch for maximum accuracy, with an epsilon bias on the
-       // surface distance
-       frac = plane->dist;
-       if (side)
+       dJointID j = 0;
+       dBodyID b1 = 0;
+       dBodyID b2 = 0;
+       int movetype = 0;
+       int jointtype = 0;
+       int enemy = 0, aiment = 0;
+       vec3_t origin, velocity, angles, forward, left, up;
+       prvm_eval_t *val;
+       VectorClear(origin);
+       VectorClear(velocity);
+       VectorClear(angles);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.enemy);if (val) enemy = val->_int;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.aiment);if (val) aiment = val->_int;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
+       if(movetype == MOVETYPE_PHYSICS)
+               jointtype = 0; // can't have both
+       if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
+               enemy = 0;
+       if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
+               aiment = 0;
+       if(jointtype == ed->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment)
+               return; // nothing to do
+       AngleVectorsFLU(angles, forward, left, up);
+       switch(jointtype)
        {
        {
-               frac -= DIST_EPSILON;
-               VectorNegate (plane->normal, RHC.trace->plane.normal);
-               RHC.trace->plane.dist = -plane->dist;
+               case JOINTTYPE_POINT:
+                       j = dJointCreateBall(world->physics.ode_world, 0);
+                       break;
+               case JOINTTYPE_HINGE:
+                       j = dJointCreateHinge(world->physics.ode_world, 0);
+                       break;
+               case JOINTTYPE_SLIDER:
+                       j = dJointCreateSlider(world->physics.ode_world, 0);
+                       break;
+               case JOINTTYPE_UNIVERSAL:
+                       j = dJointCreateUniversal(world->physics.ode_world, 0);
+                       break;
+               case JOINTTYPE_HINGE2:
+                       j = dJointCreateHinge2(world->physics.ode_world, 0);
+                       break;
+               case 0:
+               default:
+                       // no joint
+                       j = 0;
+                       break;
        }
        }
-       else
+       ed->priv.server->ode_joint = (void *) j;
+       ed->priv.server->ode_joint_type = jointtype;
+       ed->priv.server->ode_joint_enemy = enemy;
+       ed->priv.server->ode_joint_aiment = aiment;
+       VectorCopy(origin, ed->priv.server->ode_joint_origin);
+       VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
+       VectorCopy(angles, ed->priv.server->ode_joint_angles);
+       if(j)
        {
        {
-               frac += DIST_EPSILON;
-               VectorCopy (plane->normal, RHC.trace->plane.normal);
-               RHC.trace->plane.dist = plane->dist;
+               dJointSetData(j, (void *) ed);
+               if(enemy)
+                       b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
+               if(aiment)
+                       b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
+               dJointAttach(j, b1, b2);
+               switch(jointtype)
+               {
+                       case JOINTTYPE_POINT:
+                               dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
+                               break;
+                       case JOINTTYPE_HINGE:
+                               dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
+                               dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
+                               break;
+                       case JOINTTYPE_SLIDER:
+                               dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
+                               break;
+                       case JOINTTYPE_UNIVERSAL:
+                               dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
+                               dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
+                               dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
+                               break;
+                       case JOINTTYPE_HINGE2:
+                               dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
+                               dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
+                               dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
+                               break;
+                       case 0:
+                       default:
+                               Host_Error("what? but above the joint was valid...\n");
+                               break;
+               }
        }
        }
+}
 
 
-       if (plane->type < 3)
+static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
+{
+       const float *iv;
+       const int *ie;
+       dBodyID body = (dBodyID)ed->priv.server->ode_body;
+       dMass mass;
+       dReal test;
+       void *dataID;
+       dVector3 capsulerot[3];
+       dp_model_t *model;
+       float *ov;
+       int *oe;
+       int axisindex;
+       int modelindex = 0;
+       int movetype = MOVETYPE_NONE;
+       int numtriangles;
+       int numvertices;
+       int solid = SOLID_NOT;
+       int triangleindex;
+       int vertexindex;
+       mempool_t *mempool;
+       prvm_eval_t *val;
+       qboolean modified = false;
+       vec3_t angles;
+       vec3_t avelocity;
+       vec3_t entmaxs;
+       vec3_t entmins;
+       vec3_t forward;
+       vec3_t geomcenter;
+       vec3_t geomsize;
+       vec3_t left;
+       vec3_t origin;
+       vec3_t spinvelocity;
+       vec3_t up;
+       vec3_t velocity;
+       vec_t f;
+       vec_t length;
+       vec_t massval = 1.0f;
+       vec_t movelimit;
+       vec_t radius;
+       vec_t scale = 1.0f;
+       vec_t spinlimit;
+       qboolean gravity;
+#ifdef ODE_DYNAMIC
+       if (!ode_dll)
+               return;
+#endif
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);if (val) solid = (int)val->_float;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val && val->_float) scale = val->_float;
+       modelindex = 0;
+       switch(solid)
        {
        {
-               t1 = RHC.start[plane->type] - frac;
-               t2 = RHC.start[plane->type] + RHC.dist[plane->type] - frac;
+       case SOLID_BSP:
+               val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex);
+               if (val)
+                       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)
+               {
+                       VectorScale(model->normalmins, scale, entmins);
+                       VectorScale(model->normalmaxs, scale, 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;
        }
        }
-       else
+
+       VectorSubtract(entmaxs, entmins, geomsize);
+       if (VectorLength2(geomsize) == 0)
        {
        {
-               t1 = plane->normal[0] * RHC.start[0] + plane->normal[1] * RHC.start[1] + plane->normal[2] * RHC.start[2] - frac;
-               t2 = plane->normal[0] * (RHC.start[0] + RHC.dist[0]) + plane->normal[1] * (RHC.start[1] + RHC.dist[1]) + plane->normal[2] * (RHC.start[2] + RHC.dist[2]) - frac;
+               // we don't allow point-size physics objects...
+               if (ed->priv.server->ode_physics)
+                       World_Physics_RemoveFromEntity(world, ed);
+               return;
        }
 
        }
 
-       frac = t1 / (t1 - t2);
-       frac = bound(0.0f, frac, 1.0);
-
-       RHC.trace->fraction = frac;
-       RHC.trace->endpos[0] = RHC.start[0] + frac * RHC.dist[0];
-       RHC.trace->endpos[1] = RHC.start[1] + frac * RHC.dist[1];
-       RHC.trace->endpos[2] = RHC.start[2] + frac * RHC.dist[2];
-}
+       if (movetype != MOVETYPE_PHYSICS)
+               massval = 1.0f;
 
 
-int SV_RecursiveHullCheck (int num, double p1f, double p2f, double p1[3], double p2[3])
-{
-       dclipnode_t     *node;
-       int                     side;
-       double          midf, mid[3];
-       // LordHavoc: FIXME: this is not thread safe...  if threading matters here,
-       // remove the static prefixes
-       static int ret;
-       static mplane_t *plane;
-       static double t1, t2, frac;
-
-       // LordHavoc: a goto!  everyone flee in terror... :)
-loc0:
-       // check for empty
-       if (num < 0)
+       // check if we need to create or replace the geom
+       if (!ed->priv.server->ode_physics
+        || !VectorCompare(ed->priv.server->ode_mins, entmins)
+        || !VectorCompare(ed->priv.server->ode_maxs, entmaxs)
+        || ed->priv.server->ode_mass != massval
+        || ed->priv.server->ode_modelindex != modelindex)
        {
        {
-               RHC.trace->endcontents = num;
-               if (RHC.trace->startcontents)
+               modified = true;
+               World_Physics_RemoveFromEntity(world, ed);
+               ed->priv.server->ode_physics = true;
+               VectorCopy(entmins, ed->priv.server->ode_mins);
+               VectorCopy(entmaxs, ed->priv.server->ode_maxs);
+               ed->priv.server->ode_mass = massval;
+               ed->priv.server->ode_modelindex = modelindex;
+               VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
+               ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
+
+               if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
                {
                {
-                       if (num == RHC.trace->startcontents)
-                               RHC.trace->allsolid = false;
-                       else
-                       {
-                               // if the first leaf is solid, set startsolid
-                               if (RHC.trace->allsolid)
-                                       RHC.trace->startsolid = true;
-                               return HULLCHECKSTATE_SOLID;
-                       }
-                       return HULLCHECKSTATE_EMPTY;
+                       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);
                }
                }
-               else
+
+               switch(solid)
                {
                {
-                       if (num != CONTENTS_SOLID)
+               case SOLID_BSP:
+                       ed->priv.server->ode_offsetmatrix = identitymatrix;
+                       if (!model)
                        {
                        {
-                               RHC.trace->allsolid = false;
-                               if (num == CONTENTS_EMPTY)
-                                       RHC.trace->inopen = true;
-                               else
-                                       RHC.trace->inwater = true;
+                               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;
                        }
                        }
-                       else
+                       // 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)
                        {
                        {
-                               // if the first leaf is solid, set startsolid
-                               if (RHC.trace->allsolid)
-                                       RHC.trace->startsolid = true;
-                               return HULLCHECKSTATE_SOLID;
+                               oe[0] = ie[2];
+                               oe[1] = ie[1];
+                               oe[2] = ie[0];
                        }
                        }
-                       return HULLCHECKSTATE_EMPTY;
+                       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]);
+                       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);
+                       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);
+                       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);
        }
 
        }
 
-       // find the point distances
-       node = RHC.hull->clipnodes + num;
-
-       plane = RHC.hull->planes + node->planenum;
-       if (plane->type < 3)
+       // get current data from entity
+       VectorClear(origin);
+       VectorClear(velocity);
+       //VectorClear(forward);
+       //VectorClear(left);
+       //VectorClear(up);
+       //VectorClear(spinvelocity);
+       VectorClear(angles);
+       VectorClear(avelocity);
+       gravity = true;
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
+       //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward);
+       //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left);
+       //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up);
+       //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(val->vector, avelocity);
+       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.gravity);if (val) { if(val->_float != 0.0f && val->_float < 0.5f) gravity = false; }
+       if(ed == prog->edicts)
+               gravity = false;
+
+       // compatibility for legacy entities
+       //if (!VectorLength2(forward) || solid == SOLID_BSP)
        {
        {
-               t1 = p1[plane->type] - plane->dist;
-               t2 = p2[plane->type] - plane->dist;
+               AngleVectorsFLU(angles, forward, left, up);
+               // convert single-axis rotations in avelocity to spinvelocity
+               // FIXME: untested math - check signs
+               VectorSet(spinvelocity, DEG2RAD(avelocity[PITCH]), DEG2RAD(avelocity[ROLL]), DEG2RAD(avelocity[YAW]));
        }
        }
-       else
+
+       // compatibility for legacy entities
+       switch (solid)
        {
        {
-               t1 = DotProduct (plane->normal, p1) - plane->dist;
-               t2 = DotProduct (plane->normal, p2) - plane->dist;
+       case SOLID_BBOX:
+       case SOLID_SLIDEBOX:
+       case SOLID_CORPSE:
+               VectorSet(forward, 1, 0, 0);
+               VectorSet(left, 0, 1, 0);
+               VectorSet(up, 0, 0, 1);
+               VectorSet(spinvelocity, 0, 0, 0);
+               break;
        }
 
        }
 
-       // LordHavoc: rearranged the side/frac code
-       if (t1 >= 0)
+
+       // we must prevent NANs...
+       test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
+       if (IS_NAN(test))
        {
        {
-               if (t2 >= 0)
+               modified = true;
+               //Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+               Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]);
+               test = VectorLength2(origin);
+               if (IS_NAN(test))
+                       VectorClear(origin);
+               test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
+               if (IS_NAN(test))
                {
                {
-                       num = node->children[0];
-                       goto loc0;
+                       VectorSet(angles, 0, 0, 0);
+                       VectorSet(forward, 1, 0, 0);
+                       VectorSet(left, 0, 1, 0);
+                       VectorSet(up, 0, 0, 1);
                }
                }
-               // put the crosspoint DIST_EPSILON pixels on the near side
-               side = 0;
-       }
-       else
-       {
-               if (t2 < 0)
+               test = VectorLength2(velocity);
+               if (IS_NAN(test))
+                       VectorClear(velocity);
+               test = VectorLength2(spinvelocity);
+               if (IS_NAN(test))
                {
                {
-                       num = node->children[1];
-                       goto loc0;
+                       VectorClear(avelocity);
+                       VectorClear(spinvelocity);
                }
                }
-               // put the crosspoint DIST_EPSILON pixels on the near side
-               side = 1;
        }
 
        }
 
-       frac = t1 / (t1 - t2);
-       frac = bound(0.0f, frac, 1.0);
+       // 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)
+       {
+               modified = true;
+               // 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(avelocity, f, avelocity);
+               VectorScale(spinvelocity, f, spinvelocity);
+       }
 
 
-       midf = p1f + ((p2f - p1f) * frac);
-       mid[0] = RHC.start[0] + midf * RHC.dist[0];
-       mid[1] = RHC.start[1] + midf * RHC.dist[1];
-       mid[2] = RHC.start[2] + midf * RHC.dist[2];
+       // make sure the angular velocity is not exploding
+       spinlimit = physics_ode_spinlimit.value;
+       test = VectorLength2(spinvelocity);
+       if (test > spinlimit)
+       {
+               modified = true;
+               VectorClear(avelocity);
+               VectorClear(spinvelocity);
+       }
 
 
-       // front side first
-       ret = SV_RecursiveHullCheck (node->children[side], p1f, midf, p1, mid);
-       if (ret != HULLCHECKSTATE_EMPTY)
-               return ret; // solid or done
-       ret = SV_RecursiveHullCheck (node->children[!side], midf, p2f, mid, p2);
-       if (ret != HULLCHECKSTATE_SOLID)
-               return ret; // empty or done
+       // check if the qc edited any position data
+       if (!VectorCompare(origin, ed->priv.server->ode_origin)
+        || !VectorCompare(velocity, ed->priv.server->ode_velocity)
+        || !VectorCompare(angles, ed->priv.server->ode_angles)
+        || !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
+        || gravity != ed->priv.server->ode_gravity)
+               modified = true;
+
+       // store the qc values into the physics engine
+       body = ed->priv.server->ode_body;
+       if (body && modified)
+       {
+               dVector3 r[3];
+               matrix4x4_t entitymatrix;
+               matrix4x4_t bodymatrix;
 
 
-       // front is air and back is solid, this is the impact point...
-       SV_RecursiveHullCheck_Impact(RHC.hull->planes + node->planenum, side);
+               {
+                       float pitchsign = 1;
+                       if(!strcmp(prog->name, "server")) // FIXME some better way?
+                       {
+                               pitchsign = SV_GetPitchSign(ed);
+                       }
+                       else if(!strcmp(prog->name, "client"))
+                       {
+                               pitchsign = CL_GetPitchSign(ed);
+                       }
+                       angles[PITCH] *= pitchsign;
+                       avelocity[PITCH] *= pitchsign;
+               }
 
 
-       return HULLCHECKSTATE_DONE;
+               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]);
+               dBodySetGravityMode(body, gravity);
+               dBodySetData(body, (void*)ed);
+               // setting body to NULL makes an immovable object
+               if (movetype != MOVETYPE_PHYSICS)
+                       dGeomSetBody(ed->priv.server->ode_geom, 0);
+       }
 }
 
 }
 
-/*
-==================
-SV_ClipMoveToEntity
-
-Handles selection or creation of a clipping hull, and offseting (and
-eventually rotation) of the end points
-==================
-*/
-trace_t SV_ClipMoveToEntity (edict_t *ent, vec3_t start, vec3_t mins, vec3_t maxs, vec3_t end)
+#define MAX_CONTACTS 16
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
 {
 {
-       trace_t trace;
-       vec3_t offset, forward, left, up;
-       double startd[3], endd[3], tempd[3];
-       hull_t *hull;
-
-// fill in a default trace
-       memset (&trace, 0, sizeof(trace_t));
-       trace.fraction = 1;
-       trace.allsolid = true;
-
-// get the clipping hull
-       hull = SV_HullForEntity (ent, mins, maxs, offset);
-
-       VectorSubtract(start, offset, startd);
-       VectorSubtract(end, offset, endd);
-
-       // rotate start and end into the models frame of reference
-       if (ent->v.solid == SOLID_BSP && (ent->v.angles[0] || ent->v.angles[1] || ent->v.angles[2]))
+       world_t *world = (world_t *)data;
+       dContact contact[MAX_CONTACTS]; // max contacts per collision pair
+       dBodyID b1;
+       dBodyID b2;
+       dJointID c;
+       int i;
+       int numcontacts;
+       prvm_eval_t *val;
+       float bouncefactor1 = 0.0f;
+       float bouncestop1 = 60.0f / 800.0f;
+       float bouncefactor2 = 0.0f;
+       float bouncestop2 = 60.0f / 800.0f;
+       dVector3 grav;
+       prvm_edict_t *ed;
+
+       if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
        {
        {
-               AngleVectorsFLU (ent->v.angles, forward, left, up);
-               VectorCopy(startd, tempd);
-               startd[0] = DotProduct (tempd, forward);
-               startd[1] = DotProduct (tempd, left);
-               startd[2] = DotProduct (tempd, up);
-               VectorCopy(endd, tempd);
-               endd[0] = DotProduct (tempd, forward);
-               endd[1] = DotProduct (tempd, left);
-               endd[2] = DotProduct (tempd, up);
+               // 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;
        }
 
        }
 
-       VectorCopy(end, trace.endpos);
+       b1 = dGeomGetBody(o1);
+       b2 = dGeomGetBody(o2);
 
 
-// trace a line through the appropriate clipping hull
-       VectorCopy(startd, RecursiveHullCheckInfo.start);
-       VectorSubtract(endd, startd, RecursiveHullCheckInfo.dist);
-       RecursiveHullCheckInfo.hull = hull;
-       RecursiveHullCheckInfo.trace = &trace;
-       SV_RecursiveHullCheck (hull->firstclipnode, 0, 1, startd, endd);
+       // 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;
 
 
-       // if we hit, unrotate endpos and normal, and store the entity we hit
-       if (trace.fraction != 1)
+       if(b1)
        {
        {
-               // rotate endpos back to world frame of reference
-               if (ent->v.solid == SOLID_BSP && (ent->v.angles[0] || ent->v.angles[1] || ent->v.angles[2]))
+               ed = (prvm_edict_t *) dBodyGetData(b1);
+               if(ed)
                {
                {
-                       VectorNegate (ent->v.angles, offset);
-                       AngleVectorsFLU (offset, forward, left, up);
-
-                       VectorCopy (trace.endpos, tempd);
-                       trace.endpos[0] = DotProduct (tempd, forward);
-                       trace.endpos[1] = DotProduct (tempd, left);
-                       trace.endpos[2] = DotProduct (tempd, up);
-
-                       VectorCopy (trace.plane.normal, tempd);
-                       trace.plane.normal[0] = DotProduct (tempd, forward);
-                       trace.plane.normal[1] = DotProduct (tempd, left);
-                       trace.plane.normal[2] = DotProduct (tempd, up);
+                       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor);
+                       if (val!=0 && val->_float)
+                               bouncefactor1 = val->_float;
+
+                       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop);
+                       if (val!=0 && val->_float)
+                               bouncestop1 = val->_float;
                }
                }
-               // fix offset
-               VectorAdd (trace.endpos, offset, trace.endpos);
-               trace.ent = ent;
        }
        }
-       else if (trace.allsolid || trace.startsolid)
-               trace.ent = ent;
-
-       return trace;
-}
-
-//===========================================================================
-
-/*
-====================
-SV_ClipToLinks
-
-Mins and maxs enclose the entire area swept by the move
-====================
-*/
-void SV_ClipToLinks ( areanode_t *node, moveclip_t *clip )
-{
-       link_t          *l, *next;
-       edict_t         *touch;
-       trace_t         trace;
 
 
-loc0:
-       if (clip->trace.allsolid)
-               return;
-// touch linked edicts
-       for (l = node->solid_edicts.next ; l != &node->solid_edicts ; l = next)
+       if(b2)
        {
        {
-               next = l->next;
-               touch = EDICT_FROM_AREA(l);
-               if (touch->v.solid == SOLID_NOT)
-                       continue;
-               if (touch == clip->passedict)
-                       continue;
-               if (touch->v.solid == SOLID_TRIGGER)
-                       Host_Error ("Trigger in clipping list");
-
-               if (clip->type == MOVE_NOMONSTERS && touch->v.solid != SOLID_BSP)
-                       continue;
-
-               if (clip->boxmins[0] > touch->v.absmax[0]
-                || clip->boxmaxs[0] < touch->v.absmin[0]
-                || clip->boxmins[1] > touch->v.absmax[1]
-                || clip->boxmaxs[1] < touch->v.absmin[1]
-                || clip->boxmins[2] > touch->v.absmax[2]
-                || clip->boxmaxs[2] < touch->v.absmin[2])
-                       continue;
-
-               if (clip->passedict)
+               ed = (prvm_edict_t *) dBodyGetData(b2);
+               if(ed)
                {
                {
-                       if (clip->passedict->v.size[0] && !touch->v.size[0])
-                               continue;       // points never interact
-                       if (PROG_TO_EDICT(touch->v.owner) == clip->passedict)
-                               continue;       // don't clip against own missiles
-                       if (PROG_TO_EDICT(clip->passedict->v.owner) == touch)
-                               continue;       // don't clip against owner
-                       // LordHavoc: corpse code
-                       if (clip->passedict->v.solid == SOLID_CORPSE && touch->v.solid == SOLID_SLIDEBOX)
-                               continue;
-                       if (clip->passedict->v.solid == SOLID_SLIDEBOX && touch->v.solid == SOLID_CORPSE)
-                               continue;
+                       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor);
+                       if (val!=0 && val->_float)
+                               bouncefactor2 = val->_float;
+
+                       val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop);
+                       if (val!=0 && val->_float)
+                               bouncestop2 = val->_float;
                }
                }
+       }
 
 
-               // might interact, so do an exact clip
-               if ((int)touch->v.flags & FL_MONSTER)
-                       trace = SV_ClipMoveToEntity (touch, clip->start, clip->mins2, clip->maxs2, clip->end);
-               else
-                       trace = SV_ClipMoveToEntity (touch, clip->start, clip->mins, clip->maxs, clip->end);
-               if (trace.allsolid)
+       // merge bounce factors and bounce stop
+       if(bouncefactor2 > 0)
+       {
+               if(bouncefactor1 > 0)
                {
                {
-                       clip->trace = trace;
-                       return;
+                       // TODO possibly better logic to merge bounce factor data?
+                       if(bouncestop2 < bouncestop1)
+                               bouncestop1 = bouncestop2;
+                       if(bouncefactor2 > bouncefactor1)
+                               bouncefactor1 = bouncefactor2;
                }
                }
-               if (trace.startsolid || trace.fraction < clip->trace.fraction)
+               else
                {
                {
-                       if (clip->trace.startsolid)
-                       {
-                               clip->trace = trace;
-                               clip->trace.startsolid = true;
-                       }
-                       else
-                               clip->trace = trace;
+                       bouncestop1 = bouncestop2;
+                       bouncefactor1 = bouncefactor2;
                }
        }
                }
        }
+       dWorldGetGravity(world->physics.ode_world, grav);
+       bouncestop1 *= fabs(grav[2]);
 
 
-// recurse down both sides
-       if (node->axis == -1)
-               return;
-
-       // LordHavoc: optimized recursion
-//     if (clip->boxmaxs[node->axis] > node->dist) SV_ClipToLinks(node->children[0], clip);
-//     if (clip->boxmins[node->axis] < node->dist) SV_ClipToLinks(node->children[1], clip);
-       if (clip->boxmaxs[node->axis] > node->dist)
-       {
-               if (clip->boxmins[node->axis] < node->dist)
-                       SV_ClipToLinks(node->children[1], clip);
-               node = node->children[0];
-               goto loc0;
-       }
-       else if (clip->boxmins[node->axis] < node->dist)
+       // 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++)
        {
        {
-               node = node->children[1];
-               goto loc0;
+               contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0) | (bouncefactor1 > 0 ? dContactBounce : 0);
+               contact[i].surface.mu = physics_ode_contact_mu.value;
+               contact[i].surface.soft_erp = physics_ode_contact_erp.value;
+               contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
+               contact[i].surface.bounce = bouncefactor1;
+               contact[i].surface.bounce_vel = bouncestop1;
+               c = dJointCreateContact(world->physics.ode_world, world->physics.ode_contactgroup, contact + i);
+               dJointAttach(c, b1, b2);
        }
 }
        }
 }
+#endif
 
 
-
-/*
-==================
-SV_MoveBounds
-==================
-*/
-void SV_MoveBounds (vec3_t start, vec3_t mins, vec3_t maxs, vec3_t end, vec3_t boxmins, vec3_t boxmaxs)
+void World_Physics_Frame(world_t *world, double frametime, double gravity)
 {
 {
-#if 0
-// debug to test against everything
-boxmins[0] = boxmins[1] = boxmins[2] = -9999;
-boxmaxs[0] = boxmaxs[1] = boxmaxs[2] = 9999;
-#else
-       int             i;
-
-       for (i=0 ; i<3 ; i++)
+#ifdef USEODE
+       if (world->physics.ode)
        {
        {
-               if (end[i] > start[i])
-               {
-                       boxmins[i] = start[i] + mins[i] - 1;
-                       boxmaxs[i] = end[i] + maxs[i] + 1;
-               }
-               else
+               int i;
+               prvm_edict_t *ed;
+
+               // copy physics properties from entities to physics engine
+               if (prog)
                {
                {
-                       boxmins[i] = end[i] + mins[i] - 1;
-                       boxmaxs[i] = start[i] + maxs[i] + 1;
+                       for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
+                               if (!prog->edicts[i].priv.required->free)
+                                       World_Physics_Frame_BodyFromEntity(world, ed);
+                       // oh, and it must be called after all bodies were created
+                       for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
+                               if (!prog->edicts[i].priv.required->free)
+                                       World_Physics_Frame_JointFromEntity(world, ed);
                }
                }
-       }
-#endif
-}
 
 
-/*
-==================
-SV_Move
-==================
-*/
-trace_t SV_Move (vec3_t start, vec3_t mins, vec3_t maxs, vec3_t end, int type, edict_t *passedict)
-{
-       moveclip_t      clip;
-       int                     i;
+               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));
 
 
-       memset ( &clip, 0, sizeof ( moveclip_t ) );
+                       // run collisions for the current world state, creating JointGroup
+                       dSpaceCollide(world->physics.ode_space, (void *)world, nearCallback);
 
 
-       clip.start = start;
-       clip.end = end;
-       clip.mins = mins;
-       clip.maxs = maxs;
-       clip.type = type;
-       clip.passedict = passedict;
+                       // 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);
 
 
-       if (type == MOVE_MISSILE)
-       {
-               for (i=0 ; i<3 ; i++)
-               {
-                       clip.mins2[i] = -15;
-                       clip.maxs2[i] = 15;
+                       // clear the JointGroup now that we're done with it
+                       dJointGroupEmpty(world->physics.ode_contactgroup);
                }
                }
-       }
-       else
-       {
-               VectorCopy (clip.mins, clip.mins2);
-               VectorCopy (clip.maxs, clip.maxs2);
-       }
 
 
-       // clip to world
-       clip.trace = SV_ClipMoveToEntity (sv.edicts, start, mins, maxs, end);
-
-       // clip to entities
-       if (!clip.trace.allsolid)
-       {
-               // create the bounding box of the entire move
-               SV_MoveBounds ( start, clip.mins2, clip.maxs2, end, clip.boxmins, clip.boxmaxs );
-
-               SV_ClipToLinks ( sv_areanodes, &clip );
+               // 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);
        }
        }
-
-       return clip.trace;
+#endif
 }
 }