// world.c -- world query functions
#include "quakedef.h"
+#include "clvm_cmds.h"
/*
// physics engine support
//============================================================================
+#ifndef ODE_STATIC
+#define ODE_DYNAMIC 1
+#endif
+
+#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
+#define USEODE 1
+#endif
+
+#ifdef USEODE
cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
cvar_t physics_ode_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_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.
-//#ifndef ODE_STATIC
-//#define ODE_DYNAMIC 1
-//#endif
-
-#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
-#define USEODE 1
-#endif
-
-#ifdef USEODE
#ifdef ODE_STATIC
#include "ode/ode.h"
#else
#ifdef WINAPI
-#define ODE_API WINAPI
+// ODE does not use WINAPI
+#define ODE_API
#else
#define ODE_API
#endif
#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
-ODE_API const char* (*dGetConfiguration)(void);
-ODE_API int (*dCheckConfiguration)( const char* token );
-ODE_API int (*dInitODE2)(unsigned int uiInitFlags);
-ODE_API int (*dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
-ODE_API void (*dCleanupODEAllDataForThread)(void);
-ODE_API void (*dCloseODE)(void);
-
-//ODE_API int (*dMassCheck)(const dMass *m);
-//ODE_API void (*dMassSetZero)(dMass *);
-//ODE_API void (*dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
-//ODE_API void (*dMassSetSphere)(dMass *, dReal density, dReal radius);
-ODE_API void (*dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
-//ODE_API void (*dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
-ODE_API void (*dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
-//ODE_API void (*dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
-//ODE_API void (*dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
-//ODE_API void (*dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
-ODE_API void (*dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
-//ODE_API void (*dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
-//ODE_API void (*dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
-//ODE_API void (*dMassAdjust)(dMass *, dReal newmass);
-//ODE_API void (*dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
-//ODE_API void (*dMassRotate)(dMass *, const dMatrix3 R);
-//ODE_API void (*dMassAdd)(dMass *a, const dMass *b);
+//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);
//
-ODE_API dWorldID (*dWorldCreate)(void);
-ODE_API void (*dWorldDestroy)(dWorldID world);
-ODE_API void (*dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
-//ODE_API void (*dWorldGetGravity)(dWorldID, dVector3 gravity);
-//ODE_API void (*dWorldSetERP)(dWorldID, dReal erp);
-//ODE_API dReal (*dWorldGetERP)(dWorldID);
-//ODE_API void (*dWorldSetCFM)(dWorldID, dReal cfm);
-//ODE_API dReal (*dWorldGetCFM)(dWorldID);
-ODE_API void (*dWorldStep)(dWorldID, dReal stepsize);
-//ODE_API void (*dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
-ODE_API void (*dWorldQuickStep)(dWorldID w, dReal stepsize);
-ODE_API void (*dWorldSetQuickStepNumIterations)(dWorldID, int num);
-//ODE_API int (*dWorldGetQuickStepNumIterations)(dWorldID);
-//ODE_API void (*dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
-//ODE_API dReal (*dWorldGetQuickStepW)(dWorldID);
-//ODE_API void (*dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
-//ODE_API dReal (*dWorldGetContactMaxCorrectingVel)(dWorldID);
-ODE_API void (*dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
-//ODE_API dReal (*dWorldGetContactSurfaceLayer)(dWorldID);
-ODE_API void (*dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
-//ODE_API void (*dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
-//ODE_API int (*dWorldGetAutoEnableDepthSF1)(dWorldID);
-//ODE_API dReal (*dWorldGetAutoDisableLinearThreshold)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
-//ODE_API dReal (*dWorldGetAutoDisableAngularThreshold)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
-//ODE_API dReal (*dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
-//ODE_API dReal (*dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
-//ODE_API int (*dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
-//ODE_API int (*dWorldGetAutoDisableSteps)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableSteps)(dWorldID, int steps);
-//ODE_API dReal (*dWorldGetAutoDisableTime)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableTime)(dWorldID, dReal time);
-//ODE_API int (*dWorldGetAutoDisableFlag)(dWorldID);
-//ODE_API void (*dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
-//ODE_API dReal (*dWorldGetLinearDampingThreshold)(dWorldID w);
-//ODE_API void (*dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
-//ODE_API dReal (*dWorldGetAngularDampingThreshold)(dWorldID w);
-//ODE_API void (*dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
-//ODE_API dReal (*dWorldGetLinearDamping)(dWorldID w);
-//ODE_API void (*dWorldSetLinearDamping)(dWorldID w, dReal scale);
-//ODE_API dReal (*dWorldGetAngularDamping)(dWorldID w);
-//ODE_API void (*dWorldSetAngularDamping)(dWorldID w, dReal scale);
-//ODE_API void (*dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
-//ODE_API dReal (*dWorldGetMaxAngularSpeed)(dWorldID w);
-//ODE_API void (*dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
-//ODE_API dReal (*dBodyGetAutoDisableLinearThreshold)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
-//ODE_API dReal (*dBodyGetAutoDisableAngularThreshold)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
-//ODE_API int (*dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
-//ODE_API int (*dBodyGetAutoDisableSteps)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableSteps)(dBodyID, int steps);
-//ODE_API dReal (*dBodyGetAutoDisableTime)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableTime)(dBodyID, dReal time);
-//ODE_API int (*dBodyGetAutoDisableFlag)(dBodyID);
-//ODE_API void (*dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
-//ODE_API void (*dBodySetAutoDisableDefaults)(dBodyID);
-//ODE_API dWorldID (*dBodyGetWorld)(dBodyID);
-ODE_API dBodyID (*dBodyCreate)(dWorldID);
-ODE_API void (*dBodyDestroy)(dBodyID);
-ODE_API void (*dBodySetData)(dBodyID, void *data);
-//ODE_API void * (*dBodyGetData)(dBodyID);
-ODE_API void (*dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
-ODE_API void (*dBodySetRotation)(dBodyID, const dMatrix3 R);
-//ODE_API void (*dBodySetQuaternion)(dBodyID, const dQuaternion q);
-ODE_API void (*dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
-ODE_API void (*dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
-ODE_API const dReal * (*dBodyGetPosition)(dBodyID);
-//ODE_API void (*dBodyCopyPosition)(dBodyID body, dVector3 pos);
-ODE_API const dReal * (*dBodyGetRotation)(dBodyID);
-//ODE_API void (*dBodyCopyRotation)(dBodyID, dMatrix3 R);
-//ODE_API const dReal * (*dBodyGetQuaternion)(dBodyID);
-//ODE_API void (*dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
-ODE_API const dReal * (*dBodyGetLinearVel)(dBodyID);
-ODE_API const dReal * (*dBodyGetAngularVel)(dBodyID);
-ODE_API void (*dBodySetMass)(dBodyID, const dMass *mass);
-//ODE_API void (*dBodyGetMass)(dBodyID, dMass *mass);
-//ODE_API void (*dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
-//ODE_API void (*dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
-//ODE_API void (*dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
-//ODE_API void (*dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
-//ODE_API void (*dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
-//ODE_API void (*dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
-//ODE_API void (*dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
-//ODE_API void (*dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
-//ODE_API const dReal * (*dBodyGetForce)(dBodyID);
-//ODE_API const dReal * (*dBodyGetTorque)(dBodyID);
-//ODE_API void (*dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
-//ODE_API void (*dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
-//ODE_API void (*dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
-//ODE_API void (*dBodySetFiniteRotationMode)(dBodyID, int mode);
-//ODE_API void (*dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
-//ODE_API int (*dBodyGetFiniteRotationMode)(dBodyID);
-//ODE_API void (*dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
-//ODE_API int (*dBodyGetNumJoints)(dBodyID b);
-//ODE_API dJointID (*dBodyGetJoint)(dBodyID, int index);
-//ODE_API void (*dBodySetDynamic)(dBodyID);
-//ODE_API void (*dBodySetKinematic)(dBodyID);
-//ODE_API int (*dBodyIsKinematic)(dBodyID);
-//ODE_API void (*dBodyEnable)(dBodyID);
-//ODE_API void (*dBodyDisable)(dBodyID);
-//ODE_API int (*dBodyIsEnabled)(dBodyID);
-//ODE_API void (*dBodySetGravityMode)(dBodyID b, int mode);
-//ODE_API int (*dBodyGetGravityMode)(dBodyID b);
-//ODE_API void (*dBodySetMovedCallback)(dBodyID b, void(*callback)(dBodyID));
-//ODE_API dGeomID (*dBodyGetFirstGeom)(dBodyID b);
-//ODE_API dGeomID (*dBodyGetNextGeom)(dGeomID g);
-//ODE_API void (*dBodySetDampingDefaults)(dBodyID b);
-//ODE_API dReal (*dBodyGetLinearDamping)(dBodyID b);
-//ODE_API void (*dBodySetLinearDamping)(dBodyID b, dReal scale);
-//ODE_API dReal (*dBodyGetAngularDamping)(dBodyID b);
-//ODE_API void (*dBodySetAngularDamping)(dBodyID b, dReal scale);
-//ODE_API void (*dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
-//ODE_API dReal (*dBodyGetLinearDampingThreshold)(dBodyID b);
-//ODE_API void (*dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
-//ODE_API dReal (*dBodyGetAngularDampingThreshold)(dBodyID b);
-//ODE_API void (*dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
-//ODE_API dReal (*dBodyGetMaxAngularSpeed)(dBodyID b);
-//ODE_API void (*dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
-//ODE_API int (*dBodyGetGyroscopicMode)(dBodyID b);
-//ODE_API void (*dBodySetGyroscopicMode)(dBodyID b, int enabled);
-//ODE_API dJointID (*dJointCreateBall)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateHinge)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateSlider)(dWorldID, dJointGroupID);
-ODE_API dJointID (*dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
-//ODE_API dJointID (*dJointCreateHinge2)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateUniversal)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreatePR)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreatePU)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreatePiston)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateFixed)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateNull)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateAMotor)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreateLMotor)(dWorldID, dJointGroupID);
-//ODE_API dJointID (*dJointCreatePlane2D)(dWorldID, dJointGroupID);
-//ODE_API void (*dJointDestroy)(dJointID);
-ODE_API dJointGroupID (*dJointGroupCreate)(int max_size);
-ODE_API void (*dJointGroupDestroy)(dJointGroupID);
-ODE_API void (*dJointGroupEmpty)(dJointGroupID);
-//ODE_API int (*dJointGetNumBodies)(dJointID);
-ODE_API void (*dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
-//ODE_API void (*dJointEnable)(dJointID);
-//ODE_API void (*dJointDisable)(dJointID);
-//ODE_API int (*dJointIsEnabled)(dJointID);
-//ODE_API void (*dJointSetData)(dJointID, void *data);
-//ODE_API void * (*dJointGetData)(dJointID);
-//ODE_API dJointType (*dJointGetType)(dJointID);
-//ODE_API dBodyID (*dJointGetBody)(dJointID, int index);
-//ODE_API void (*dJointSetFeedback)(dJointID, dJointFeedback *);
-//ODE_API dJointFeedback *(*dJointGetFeedback)(dJointID);
-//ODE_API void (*dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetBallParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
-//ODE_API void (*dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
-//ODE_API void (*dJointSetHingeParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddHingeTorque)(dJointID joint, dReal torque);
-//ODE_API void (*dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
-//ODE_API void (*dJointSetSliderParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddSliderForce)(dJointID joint, dReal force);
-//ODE_API void (*dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetHinge2Param)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
-//ODE_API void (*dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
-//ODE_API void (*dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
-//ODE_API void (*dJointSetUniversalParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
-//ODE_API void (*dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPRParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddPRTorque)(dJointID j, dReal torque);
-//ODE_API void (*dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
-//ODE_API void (*dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPUParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddPUTorque)(dJointID j, dReal torque);
-//ODE_API void (*dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
-//ODE_API void (*dJointSetPistonParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointAddPistonForce)(dJointID joint, dReal force);
-//ODE_API void (*dJointSetFixed)(dJointID);
-//ODE_API void (*dJointSetFixedParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetAMotorNumAxes)(dJointID, int num);
-//ODE_API void (*dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
-//ODE_API void (*dJointSetAMotorParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetAMotorMode)(dJointID, int mode);
-//ODE_API void (*dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
-//ODE_API void (*dJointSetLMotorNumAxes)(dJointID, int num);
-//ODE_API void (*dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
-//ODE_API void (*dJointSetLMotorParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
-//ODE_API void (*dJointGetBallAnchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetBallAnchor2)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetBallParam)(dJointID, int parameter);
-//ODE_API void (*dJointGetHingeAnchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHingeAnchor2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHingeAxis)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetHingeParam)(dJointID, int parameter);
-//ODE_API dReal (*dJointGetHingeAngle)(dJointID);
-//ODE_API dReal (*dJointGetHingeAngleRate)(dJointID);
-//ODE_API dReal (*dJointGetSliderPosition)(dJointID);
-//ODE_API dReal (*dJointGetSliderPositionRate)(dJointID);
-//ODE_API void (*dJointGetSliderAxis)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetSliderParam)(dJointID, int parameter);
-//ODE_API void (*dJointGetHinge2Anchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHinge2Anchor2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHinge2Axis1)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetHinge2Axis2)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetHinge2Param)(dJointID, int parameter);
-//ODE_API dReal (*dJointGetHinge2Angle1)(dJointID);
-//ODE_API dReal (*dJointGetHinge2Angle1Rate)(dJointID);
-//ODE_API dReal (*dJointGetHinge2Angle2Rate)(dJointID);
-//ODE_API void (*dJointGetUniversalAnchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetUniversalAnchor2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetUniversalAxis1)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetUniversalAxis2)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetUniversalParam)(dJointID, int parameter);
-//ODE_API void (*dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
-//ODE_API dReal (*dJointGetUniversalAngle1)(dJointID);
-//ODE_API dReal (*dJointGetUniversalAngle2)(dJointID);
-//ODE_API dReal (*dJointGetUniversalAngle1Rate)(dJointID);
-//ODE_API dReal (*dJointGetUniversalAngle2Rate)(dJointID);
-//ODE_API void (*dJointGetPRAnchor)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetPRPosition)(dJointID);
-//ODE_API dReal (*dJointGetPRPositionRate)(dJointID);
-//ODE_API dReal (*dJointGetPRAngle)(dJointID);
-//ODE_API dReal (*dJointGetPRAngleRate)(dJointID);
-//ODE_API void (*dJointGetPRAxis1)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPRAxis2)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetPRParam)(dJointID, int parameter);
-//ODE_API void (*dJointGetPUAnchor)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetPUPosition)(dJointID);
-//ODE_API dReal (*dJointGetPUPositionRate)(dJointID);
-//ODE_API void (*dJointGetPUAxis1)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPUAxis2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPUAxis3)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPUAxisP)(dJointID id, dVector3 result);
-//ODE_API void (*dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
-//ODE_API dReal (*dJointGetPUAngle1)(dJointID);
-//ODE_API dReal (*dJointGetPUAngle1Rate)(dJointID);
-//ODE_API dReal (*dJointGetPUAngle2)(dJointID);
-//ODE_API dReal (*dJointGetPUAngle2Rate)(dJointID);
-//ODE_API dReal (*dJointGetPUParam)(dJointID, int parameter);
-//ODE_API dReal (*dJointGetPistonPosition)(dJointID);
-//ODE_API dReal (*dJointGetPistonPositionRate)(dJointID);
-//ODE_API dReal (*dJointGetPistonAngle)(dJointID);
-//ODE_API dReal (*dJointGetPistonAngleRate)(dJointID);
-//ODE_API void (*dJointGetPistonAnchor)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPistonAnchor2)(dJointID, dVector3 result);
-//ODE_API void (*dJointGetPistonAxis)(dJointID, dVector3 result);
-//ODE_API dReal (*dJointGetPistonParam)(dJointID, int parameter);
-//ODE_API int (*dJointGetAMotorNumAxes)(dJointID);
-//ODE_API void (*dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
-//ODE_API int (*dJointGetAMotorAxisRel)(dJointID, int anum);
-//ODE_API dReal (*dJointGetAMotorAngle)(dJointID, int anum);
-//ODE_API dReal (*dJointGetAMotorAngleRate)(dJointID, int anum);
-//ODE_API dReal (*dJointGetAMotorParam)(dJointID, int parameter);
-//ODE_API int (*dJointGetAMotorMode)(dJointID);
-//ODE_API int (*dJointGetLMotorNumAxes)(dJointID);
-//ODE_API void (*dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
-//ODE_API dReal (*dJointGetLMotorParam)(dJointID, int parameter);
-//ODE_API dReal (*dJointGetFixedParam)(dJointID, int parameter);
-//ODE_API dJointID (*dConnectingJoint)(dBodyID, dBodyID);
-//ODE_API int (*dConnectingJointList)(dBodyID, dBodyID, dJointID*);
-ODE_API int (*dAreConnected)(dBodyID, dBodyID);
-ODE_API int (*dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
+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);
//
-ODE_API dSpaceID (*dSimpleSpaceCreate)(dSpaceID space);
-ODE_API dSpaceID (*dHashSpaceCreate)(dSpaceID space);
-ODE_API dSpaceID (*dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
-ODE_API dSpaceID (*dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
-ODE_API void (*dSpaceDestroy)(dSpaceID);
-//ODE_API void (*dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
-//ODE_API void (*dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
-//ODE_API void (*dSpaceSetCleanup)(dSpaceID space, int mode);
-//ODE_API int (*dSpaceGetCleanup)(dSpaceID space);
-//ODE_API void (*dSpaceSetSublevel)(dSpaceID space, int sublevel);
-//ODE_API int (*dSpaceGetSublevel)(dSpaceID space);
-//ODE_API void (*dSpaceSetManualCleanup)(dSpaceID space, int mode);
-//ODE_API int (*dSpaceGetManualCleanup)(dSpaceID space);
-//ODE_API void (*dSpaceAdd)(dSpaceID, dGeomID);
-//ODE_API void (*dSpaceRemove)(dSpaceID, dGeomID);
-//ODE_API int (*dSpaceQuery)(dSpaceID, dGeomID);
-//ODE_API void (*dSpaceClean)(dSpaceID);
-//ODE_API int (*dSpaceGetNumGeoms)(dSpaceID);
-//ODE_API dGeomID (*dSpaceGetGeom)(dSpaceID, int i);
-//ODE_API int (*dSpaceGetClass)(dSpaceID space);
+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);
//
-ODE_API void (*dGeomDestroy)(dGeomID geom);
-//ODE_API void (*dGeomSetData)(dGeomID geom, void* data);
-//ODE_API void * (*dGeomGetData)(dGeomID geom);
-ODE_API void (*dGeomSetBody)(dGeomID geom, dBodyID body);
-ODE_API dBodyID (*dGeomGetBody)(dGeomID geom);
-//ODE_API void (*dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
-ODE_API void (*dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
-//ODE_API void (*dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
-//ODE_API const dReal * (*dGeomGetPosition)(dGeomID geom);
-//ODE_API void (*dGeomCopyPosition)(dGeomID geom, dVector3 pos);
-//ODE_API const dReal * (*dGeomGetRotation)(dGeomID geom);
-//ODE_API void (*dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
-//ODE_API void (*dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
-//ODE_API void (*dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
-ODE_API int (*dGeomIsSpace)(dGeomID geom);
-//ODE_API dSpaceID (*dGeomGetSpace)(dGeomID);
-//ODE_API int (*dGeomGetClass)(dGeomID geom);
-//ODE_API void (*dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
-//ODE_API void (*dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
-//ODE_API unsigned long (*dGeomGetCategoryBits)(dGeomID);
-//ODE_API unsigned long (*dGeomGetCollideBits)(dGeomID);
-//ODE_API void (*dGeomEnable)(dGeomID geom);
-//ODE_API void (*dGeomDisable)(dGeomID geom);
-//ODE_API int (*dGeomIsEnabled)(dGeomID geom);
-//ODE_API void (*dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
-//ODE_API void (*dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
-//ODE_API void (*dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
-//ODE_API void (*dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
-//ODE_API void (*dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
-//ODE_API void (*dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
-//ODE_API void (*dGeomClearOffset)(dGeomID geom);
-//ODE_API int (*dGeomIsOffset)(dGeomID geom);
-//ODE_API const dReal * (*dGeomGetOffsetPosition)(dGeomID geom);
-//ODE_API void (*dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
-//ODE_API const dReal * (*dGeomGetOffsetRotation)(dGeomID geom);
-//ODE_API void (*dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
-//ODE_API void (*dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
-ODE_API int (*dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
+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);
//
-ODE_API void (*dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
-ODE_API void (*dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
+void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
+void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
//
-ODE_API dGeomID (*dCreateSphere)(dSpaceID space, dReal radius);
-//ODE_API void (*dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
-//ODE_API dReal (*dGeomSphereGetRadius)(dGeomID sphere);
-//ODE_API dReal (*dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
+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);
//
-//ODE_API dGeomID (*dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
-//ODE_API void (*dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//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);
//
-ODE_API dGeomID (*dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
-//ODE_API void (*dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
-//ODE_API void (*dGeomBoxGetLengths)(dGeomID box, dVector3 result);
-//ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
-//ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+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);
//
-//ODE_API dGeomID (*dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
-//ODE_API void (*dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
-//ODE_API void (*dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
-//ODE_API dReal (*dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
+//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);
//
-ODE_API dGeomID (*dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
-//ODE_API void (*dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
-//ODE_API void (*dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
-//ODE_API dReal (*dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
+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);
//
-//ODE_API dGeomID (*dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
-//ODE_API void (*dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
-//ODE_API void (*dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
+//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);
//
-//ODE_API dGeomID (*dCreateRay)(dSpaceID space, dReal length);
-//ODE_API void (*dGeomRaySetLength)(dGeomID ray, dReal length);
-//ODE_API dReal (*dGeomRayGetLength)(dGeomID ray);
-//ODE_API void (*dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
-//ODE_API void (*dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
+//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);
//
-ODE_API dGeomID (*dCreateGeomTransform)(dSpaceID space);
-ODE_API void (*dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
-//ODE_API dGeomID (*dGeomTransformGetGeom)(dGeomID g);
-ODE_API void (*dGeomTransformSetCleanup)(dGeomID g, int mode);
-//ODE_API int (*dGeomTransformGetCleanup)(dGeomID g);
-//ODE_API void (*dGeomTransformSetInfo)(dGeomID g, int mode);
-//ODE_API int (*dGeomTransformGetInfo)(dGeomID g);
+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 int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
-ODE_API dTriMeshDataID (*dGeomTriMeshDataCreate)(void);
-ODE_API void (*dGeomTriMeshDataDestroy)(dTriMeshDataID g);
-//ODE_API void (*dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
-//ODE_API void* (*dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
-//ODE_API void (*dGeomTriMeshSetLastTransform)( (*dGeomID g, dMatrix4 last_trans );
-//ODE_API dReal* (*dGeomTriMeshGetLastTransform)( (*dGeomID g );
-ODE_API void (*dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
-//ODE_API void (*dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
-//ODE_API void (*dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
-//ODE_API void (*dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
-//ODE_API void (*dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
-//ODE_API void (*dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
-//ODE_API void (*dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
-//ODE_API void (*dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
-//ODE_API void (*dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
-//ODE_API void (*dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
-//ODE_API dTriCallback* (*dGeomTriMeshGetCallback)(dGeomID g);
-//ODE_API void (*dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
-//ODE_API dTriArrayCallback* (*dGeomTriMeshGetArrayCallback)(dGeomID g);
-//ODE_API void (*dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
-//ODE_API dTriRayCallback* (*dGeomTriMeshGetRayCallback)(dGeomID g);
-//ODE_API void (*dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
-//ODE_API dTriTriMergeCallback* (*dGeomTriMeshGetTriMergeCallback)(dGeomID g);
-ODE_API dGeomID (*dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
-//ODE_API void (*dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
-//ODE_API dTriMeshDataID (*dGeomTriMeshGetData)(dGeomID g);
-//ODE_API void (*dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
-//ODE_API int (*dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
-//ODE_API void (*dGeomTriMeshClearTCCache)(dGeomID g);
-//ODE_API dTriMeshDataID (*dGeomTriMeshGetTriMeshDataID)(dGeomID g);
-//ODE_API void (*dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
-//ODE_API void (*dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
-//ODE_API int (*dGeomTriMeshGetTriangleCount )(dGeomID g);
-//ODE_API void (*dGeomTriMeshDataUpdate)(dTriMeshDataID g);
+dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
+void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
+//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
+//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
+//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
+//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
+void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
+//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
+//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
+//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
+//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
+//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
+//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
+//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
+//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
+//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
+dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
+//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
+//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
+//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
+//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
+//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
+//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
+//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
static dllfunction_t odefuncs[] =
{
- {"dGetConfiguration", (void **) &dGetConfiguration},
- {"dCheckConfiguration", (void **) &dCheckConfiguration},
- {"dInitODE2", (void **) &dInitODE2},
- {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
- {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
+// {"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},
{"dWorldCreate", (void **) &dWorldCreate},
{"dWorldDestroy", (void **) &dWorldDestroy},
{"dWorldSetGravity", (void **) &dWorldSetGravity},
-// {"dWorldGetGravity", (void **) &dWorldGetGravity},
+ {"dWorldGetGravity", (void **) &dWorldGetGravity},
// {"dWorldSetERP", (void **) &dWorldSetERP},
// {"dWorldGetERP", (void **) &dWorldGetERP},
// {"dWorldSetCFM", (void **) &dWorldSetCFM},
{"dBodyCreate", (void **) &dBodyCreate},
{"dBodyDestroy", (void **) &dBodyDestroy},
{"dBodySetData", (void **) &dBodySetData},
-// {"dBodyGetData", (void **) &dBodyGetData},
+ {"dBodyGetData", (void **) &dBodyGetData},
{"dBodySetPosition", (void **) &dBodySetPosition},
{"dBodySetRotation", (void **) &dBodySetRotation},
// {"dBodySetQuaternion", (void **) &dBodySetQuaternion},
// {"dBodyEnable", (void **) &dBodyEnable},
// {"dBodyDisable", (void **) &dBodyDisable},
// {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
-// {"dBodySetGravityMode", (void **) &dBodySetGravityMode},
-// {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
+ {"dBodySetGravityMode", (void **) &dBodySetGravityMode},
+ {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
// {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
// {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom},
// {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
{"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate},
{"dHashSpaceCreate", (void **) &dHashSpaceCreate},
{"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate},
- {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
+// {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
{"dSpaceDestroy", (void **) &dSpaceDestroy},
// {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels},
// {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels},
static void World_Physics_Init(void)
{
#ifdef USEODE
-#ifndef ODE_STATIC
+#ifdef ODE_DYNAMIC
const char* dllnames [] =
{
# if defined(WIN64)
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);
-#ifndef ODE_STATIC
+#ifdef ODE_DYNAMIC
// Load the DLL
if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
#endif
{
- dInitODE2(0);
-#ifndef ODE_STATIC
+ dInitODE();
+// dInitODE2(0);
+#ifdef ODE_DNYAMIC
# ifdef dSINGLE
if (!dCheckConfiguration("ODE_single_precision"))
# else
# else
Con_Printf("ode library not compiled for double precision - incompatible! Not using ODE physics.\n");
# endif
- Sys_UnloadLibrary(ode_dll);
+ Sys_UnloadLibrary(&ode_dll);
ode_dll = NULL;
}
#endif
static void World_Physics_Shutdown(void)
{
#ifdef USEODE
-#ifndef ODE_STATIC
+#ifdef ODE_DYNAMIC
if (ode_dll)
#endif
{
dCloseODE();
-#ifndef ODE_STATIC
- Sys_UnloadLibrary(ode_dll);
+#ifdef ODE_DYNAMIC
+ Sys_UnloadLibrary(&ode_dll);
ode_dll = NULL;
#endif
}
dVector3 center, extents;
if (world->physics.ode)
return;
-#ifndef ODE_STATIC
+#ifdef ODE_DYNAMIC
if (!ode_dll)
return;
#endif
world->physics.ode_world = dWorldCreate();
world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
world->physics.ode_contactgroup = dJointGroupCreate(0);
- // we don't currently set dWorldSetCFM or dWorldSetERP because the defaults seem fine
+ if(physics_ode_world_erp.value >= 0)
+ dWorldSetERP(world->physics.ode_world, physics_ode_world_erp.value);
+ if(physics_ode_world_cfm.value >= 0)
+ dWorldSetCFM(world->physics.ode_world, physics_ode_world_cfm.value);
}
#endif
#endif
}
-void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
+void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
{
+ ed->priv.server->ode_joint_type = 0;
#ifdef USEODE
+ if(ed->priv.server->ode_joint)
+ dJointDestroy((dJointID)ed->priv.server->ode_joint);
+ ed->priv.server->ode_joint = NULL;
+#endif
+}
+
+void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
+{
// entity is not physics controlled, free any physics data
+ 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;
Mem_Free(ed->priv.server->ode_element3i);
ed->priv.server->ode_element3i = NULL;
ed->priv.server->ode_numtriangles = 0;
-#endif
}
#ifdef USEODE
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);
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]));
+
+ {
+ float pitchsign = 1;
+ if(!strcmp(prog->name, "server")) // FIXME some better way?
+ {
+ pitchsign = SV_GetPitchSign(ed);
+ }
+ else if(!strcmp(prog->name, "client"))
+ {
+ pitchsign = CL_GetPitchSign(ed);
+ }
+ angles[PITCH] *= pitchsign;
+ avelocity[PITCH] *= pitchsign;
+ }
+
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector);
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) AnglesFromVectors(val->vector, forward, up, true);
+ //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);
+}
+
+static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
+{
+ 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)
+ {
+ 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;
+ }
+ 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)
+ {
+ 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;
+ }
+ }
}
static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
int *oe;
int axisindex;
int modelindex = 0;
- int movetype;
+ int movetype = MOVETYPE_NONE;
int numtriangles;
int numvertices;
- int solid;
+ 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;
vec_t massval = 1.0f;
vec_t movelimit;
vec_t radius;
+ vec_t scale = 1.0f;
vec_t spinlimit;
-#ifndef ODE_STATIC
+ qboolean gravity;
+#ifdef ODE_DYNAMIC
if (!ode_dll)
return;
#endif
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);
- solid = (int)val->_float;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
- movetype = (int)val->_float;
+ 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)
{
case SOLID_BSP:
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex);
- modelindex = (int)val->_float;
+ if (val)
+ modelindex = (int)val->_float;
if (world == &sv.world && modelindex >= 1 && modelindex < MAX_MODELS)
{
model = sv.models[modelindex];
}
if (model)
{
- VectorCopy(model->normalmins, entmins);
- VectorCopy(model->normalmaxs, entmaxs);
+ VectorScale(model->normalmins, scale, entmins);
+ VectorScale(model->normalmaxs, scale, entmaxs);
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
}
else
|| ed->priv.server->ode_mass != massval
|| ed->priv.server->ode_modelindex != modelindex)
{
+ modified = true;
World_Physics_RemoveFromEntity(world, ed);
ed->priv.server->ode_physics = true;
VectorCopy(entmins, ed->priv.server->ode_mins);
ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
dGeomSetBody(ed->priv.server->ode_geom, body);
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
- dBodySetMass(body, &mass);
- dBodySetData(body, (void*)ed);
break;
case SOLID_BBOX:
case SOLID_SLIDEBOX:
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
dGeomSetBody(ed->priv.server->ode_geom, body);
dBodySetMass(body, &mass);
- dBodySetData(body, (void*)ed);
break;
case SOLID_PHYSICS_SPHERE:
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
dGeomSetBody(ed->priv.server->ode_geom, body);
dBodySetMass(body, &mass);
- dBodySetData(body, (void*)ed);
break;
default:
Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
// get current data from entity
VectorClear(origin);
- VectorClear(forward);
- VectorClear(left);
- VectorClear(up);
VectorClear(velocity);
- VectorClear(spinvelocity);
+ //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.axis_forward);if (val) VectorCopy(val->vector, forward);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up);
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
+ //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
- switch (solid)
+ //if (!VectorLength2(forward) || solid == SOLID_BSP)
{
- case SOLID_BSP:
- //VectorClear(velocity);
- VectorClear(angles);
- VectorClear(avelocity);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, avelocity);
AngleVectorsFLU(angles, forward, left, up);
// convert single-axis rotations in avelocity to spinvelocity
// FIXME: untested math - check signs
- VectorSet(spinvelocity, avelocity[PITCH] * ((float)M_PI / 180.0f), avelocity[ROLL] * ((float)M_PI / 180.0f), avelocity[YAW] * ((float)M_PI / 180.0f));
- break;
+ VectorSet(spinvelocity, DEG2RAD(avelocity[PITCH]), DEG2RAD(avelocity[ROLL]), DEG2RAD(avelocity[YAW]));
+ }
+
+ // compatibility for legacy entities
+ switch (solid)
+ {
case SOLID_BBOX:
case SOLID_SLIDEBOX:
case SOLID_CORPSE:
- //VectorClear(velocity);
VectorSet(forward, 1, 0, 0);
VectorSet(left, 0, 1, 0);
VectorSet(up, 0, 0, 1);
break;
}
+
// we must prevent NANs...
test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
if (IS_NAN(test))
{
- Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = '%f %f %f' .velocity = '%f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], velocity[0], velocity[1], velocity[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+ 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))
{
+ VectorSet(angles, 0, 0, 0);
VectorSet(forward, 1, 0, 0);
VectorSet(left, 0, 1, 0);
VectorSet(up, 0, 0, 1);
test = VectorLength2(spinvelocity);
if (IS_NAN(test))
{
+ VectorClear(avelocity);
VectorClear(spinvelocity);
}
}
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);
}
spinlimit = physics_ode_spinlimit.value;
test = VectorLength2(spinvelocity);
if (test > spinlimit)
+ {
+ modified = true;
+ VectorClear(avelocity);
VectorClear(spinvelocity);
+ }
+
+ // 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 values into the physics engine
+ // store the qc values into the physics engine
body = ed->priv.server->ode_body;
- if (body)
+ if (body && modified)
{
dVector3 r[3];
matrix4x4_t entitymatrix;
matrix4x4_t bodymatrix;
+
+ {
+ 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;
+ }
+
Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
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);
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))
{
if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
return;
+ if(b1)
+ {
+ ed = (prvm_edict_t *) dBodyGetData(b1);
+ if(ed)
+ {
+ 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;
+ }
+ }
+
+ if(b2)
+ {
+ ed = (prvm_edict_t *) dBodyGetData(b2);
+ if(ed)
+ {
+ 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;
+ }
+ }
+
+ // merge bounce factors and bounce stop
+ if(bouncefactor2 > 0)
+ {
+ if(bouncefactor1 > 0)
+ {
+ // TODO possibly better logic to merge bounce factor data?
+ if(bouncestop2 < bouncestop1)
+ bouncestop1 = bouncestop2;
+ if(bouncefactor2 > bouncefactor1)
+ bouncefactor1 = bouncefactor2;
+ }
+ else
+ {
+ bouncestop1 = bouncestop2;
+ bouncefactor1 = bouncefactor2;
+ }
+ }
+ dWorldGetGravity(world->physics.ode_world, grav);
+ bouncestop1 *= fabs(grav[2]);
+
// generate contact points between the two non-space geoms
numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
// add these contact points to the simulation
for (i = 0;i < numcontacts;i++)
{
- contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0);
+ contact[i].surface.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);
}
// copy physics properties from entities to physics engine
if (prog)
+ {
for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
if (!prog->edicts[i].priv.required->free)
World_Physics_Frame_BodyFromEntity(world, ed);
+ // oh, and it must be called after all bodies were created
+ for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
+ if (!prog->edicts[i].priv.required->free)
+ World_Physics_Frame_JointFromEntity(world, ed);
+ }
world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
world->physics.ode_step = frametime / world->physics.ode_iterations;
projects / xonotic / darkplaces.git / blobdiff