cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
+cvar_t physics_ode_contact_maxpoints = {0, "physics_ode_contact_maxpoints", "16", "maximal number of contact points between 2 objects, higher = stable (and slower), can be up to 32"};
cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
cvar_t physics_ode_world_damping = {0, "physics_ode_world_damping", "1", "enabled damping scale (see ODE User Guide), this scales all damping values, be aware that behavior depends of step type"};
#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
-//const char* (ODE_API *dGetConfiguration)(void);
+const char* (ODE_API *dGetConfiguration)(void);
int (ODE_API *dCheckConfiguration)( const char* token );
int (ODE_API *dInitODE)(void);
//int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
-//void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
-//void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
-void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
-//void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
-void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//const dReal * (ODE_API *dBodyGetForce)(dBodyID);
static dllfunction_t odefuncs[] =
{
-// {"dGetConfiguration", (void **) &dGetConfiguration},
+ {"dGetConfiguration", (void **) &dGetConfiguration},
{"dCheckConfiguration", (void **) &dCheckConfiguration},
{"dInitODE", (void **) &dInitODE},
// {"dInitODE2", (void **) &dInitODE2},
{"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
{"dBodySetMass", (void **) &dBodySetMass},
// {"dBodyGetMass", (void **) &dBodyGetMass},
-// {"dBodyAddForce", (void **) &dBodyAddForce},
-// {"dBodyAddTorque", (void **) &dBodyAddTorque},
+ {"dBodyAddForce", (void **) &dBodyAddForce},
+ {"dBodyAddTorque", (void **) &dBodyAddTorque},
// {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
- {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
-// {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
- {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
+// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
+ {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
+// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
// {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
// {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
// {"dBodyGetForce", (void **) &dBodyGetForce},
Cvar_RegisterVariable(&physics_ode_contact_mu);
Cvar_RegisterVariable(&physics_ode_contact_erp);
Cvar_RegisterVariable(&physics_ode_contact_cfm);
+ Cvar_RegisterVariable(&physics_ode_contact_maxpoints);
Cvar_RegisterVariable(&physics_ode_world_erp);
Cvar_RegisterVariable(&physics_ode_world_cfm);
Cvar_RegisterVariable(&physics_ode_world_damping);
# else
Con_Printf("ODE library loaded with double precision.\n");
# endif
+ Con_Printf("ODE configuration list: %s\n", dGetConfiguration());
}
#endif
}
case ODEFUNC_DISABLE:
dBodyDisable(body);
break;
- case ODEFUNC_RELFORCEATPOS:
+ case ODEFUNC_FORCE:
dBodyEnable(body);
- dBodyAddForceAtRelPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
+ dBodyAddForceAtPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
break;
- case ODEFUNC_RELTORQUE:
+ case ODEFUNC_TORQUE:
dBodyEnable(body);
- dBodyAddRelTorque(body, f->v1[0], f->v1[1], f->v1[2]);
+ dBodyAddTorque(body, f->v1[0], f->v1[1], f->v1[2]);
break;
default:
break;
}
}
+static void World_Physics_Frame_ForceFromEntity(world_t *world, prvm_edict_t *ed)
+{
+ prvm_prog_t *prog = world->prog;
+ int forcetype = 0, movetype = 0, enemy = 0;
+ vec3_t movedir, origin;
+
+ movetype = (int)PRVM_gameedictfloat(ed, movetype);
+ forcetype = (int)PRVM_gameedictfloat(ed, forcetype);
+ if (movetype == MOVETYPE_PHYSICS)
+ forcetype = FORCETYPE_NONE; // can't have both
+ if (!forcetype)
+ return;
+ enemy = PRVM_gameedictedict(ed, enemy);
+ if (enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
+ return;
+ VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
+ VectorCopy(PRVM_gameedictvector(ed, origin), origin);
+ dBodyEnable(prog->edicts[enemy].priv.server->ode_body);
+ switch(forcetype)
+ {
+ case FORCETYPE_FORCE:
+ if (movedir[0] || movedir[1] || movedir[2])
+ dBodyAddForce(prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
+ break;
+ case FORCETYPE_FORCEATPOS:
+ if (movedir[0] || movedir[1] || movedir[2])
+ dBodyAddForceAtPos(prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2], origin[0], origin[1], origin[2]);
+ break;
+ case FORCETYPE_TORQUE:
+ if (movedir[0] || movedir[1] || movedir[2])
+ dBodyAddTorque(prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
+ break;
+ case FORCETYPE_NONE:
+ default:
+ // bad force
+ break;
+ }
+}
+
static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
{
prvm_prog_t *prog = world->prog;
int enemy = 0, aiment = 0;
vec3_t origin, velocity, angles, forward, left, up, movedir;
vec_t CFM, ERP, FMax, Stop, Vel;
+
+ movetype = (int)PRVM_gameedictfloat(ed, movetype);
+ jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
VectorClear(origin);
VectorClear(velocity);
VectorClear(angles);
VectorClear(movedir);
- movetype = (int)PRVM_gameedictfloat(ed, movetype);
- jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
enemy = PRVM_gameedictedict(ed, enemy);
aiment = PRVM_gameedictedict(ed, aiment);
VectorCopy(PRVM_gameedictvector(ed, origin), origin);
VectorCopy(PRVM_gameedictvector(ed, angles), angles);
VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
if(movetype == MOVETYPE_PHYSICS)
- jointtype = 0; // can't have both
+ jointtype = JOINTTYPE_NONE; // can't have both
if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
enemy = 0;
if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
case JOINTTYPE_FIXED:
j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
break;
- case 0:
+ case JOINTTYPE_NONE:
default:
// no joint
j = 0;
dReal test;
const dReal *ovelocity, *ospinvelocity;
void *dataID;
- dVector3 capsulerot[3];
dp_model_t *model;
float *ov;
int *oe;
vec_t scale = 1.0f;
vec_t spinlimit;
qboolean gravity;
+ vec3_t scalevec;
edict_odefunc_t *func, *nextf;
#ifdef ODE_DYNAMIC
// VorteX: keep support for deprecated solid fields to not break mods
if (solid == SOLID_PHYSICS_TRIMESH || solid == SOLID_BSP)
geomtype = GEOMTYPE_TRIMESH;
+ else if (solid == SOLID_NOT || solid == SOLID_TRIGGER)
+ geomtype = GEOMTYPE_NONE;
else if (solid == SOLID_PHYSICS_SPHERE)
geomtype = GEOMTYPE_SPHERE;
else if (solid == SOLID_PHYSICS_CAPSULE)
massval = 1.0f;
}
}
- else if (geomtype)
+ else if (geomtype && geomtype != GEOMTYPE_NONE)
{
VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
{
case GEOMTYPE_TRIMESH:
ed->priv.server->ode_offsetmatrix = identitymatrix;
+ // honor scale, support q3map2's/radiant's modelscale_vec
+ VectorCopy(PRVM_gameedictvector(ed, modelscale_vec), scalevec);
+ if (scalevec[0] != 0.0 || scalevec[1] != 0.0 || scalevec[2] != 0.0)
+ Matrix4x4_OriginScale3(&ed->priv.server->ode_offsetmatrix, scalevec[0], scalevec[1],scalevec[2]);
+ else if (PRVM_gameedictfloat(ed, scale))
+ Matrix4x4_OriginScale3(&ed->priv.server->ode_offsetmatrix, PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale));
+ // check model
if (!model)
{
Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
break;
case GEOMTYPE_CAPSULE:
- case GEOMTYPE_CYLINDER:
axisindex = 0;
if (geomsize[axisindex] < geomsize[1])
axisindex = 1;
// axis, since ODE doesn't like this idea we have to create a
// capsule which uses the standard orientation, and apply a
// transform to it
- memset(capsulerot, 0, sizeof(capsulerot));
if (axisindex == 0)
+ {
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+ radius = min(geomsize[1], geomsize[2]) * 0.5f;
+ }
else if (axisindex == 1)
+ {
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[2]) * 0.5f;
+ }
else
+ {
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
- radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
+ radius = min(geomsize[0], geomsize[1]) * 0.5f;
+ }
length = geomsize[axisindex] - radius*2;
// because we want to support more than one axisindex, we have to
// create a transform, and turn on its cleanup setting (which will
// cause the child to be destroyed when it is destroyed)
- if (geomtype == GEOMTYPE_CYLINDER)
+ ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
+ break;
+ case GEOMTYPE_CAPSULE_X:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+ radius = min(geomsize[1], geomsize[2]) * 0.5f;
+ length = geomsize[0] - radius*2;
+ // check if length is not enough, reduce radius then
+ if (length <= 0)
{
- ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
- dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
+ radius -= (1 - length)*0.5;
+ length = 1;
+ }
+ ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, 1, radius, length);
+ break;
+ case GEOMTYPE_CAPSULE_Y:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[2]) * 0.5f;
+ length = geomsize[1] - radius*2;
+ // check if length is not enough, reduce radius then
+ if (length <= 0)
+ {
+ radius -= (1 - length)*0.5;
+ length = 1;
+ }
+ ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, 2, radius, length);
+ break;
+ case GEOMTYPE_CAPSULE_Z:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
+ radius = min(geomsize[1], geomsize[0]) * 0.5f;
+ length = geomsize[2] - radius*2;
+ // check if length is not enough, reduce radius then
+ if (length <= 0)
+ {
+ radius -= (1 - length)*0.5;
+ length = 1;
+ }
+ ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, 3, radius, length);
+ break;
+ case GEOMTYPE_CYLINDER:
+ axisindex = 0;
+ if (geomsize[axisindex] < geomsize[1])
+ axisindex = 1;
+ if (geomsize[axisindex] < geomsize[2])
+ axisindex = 2;
+ // the qc gives us 3 axis radius, the longest axis is the capsule
+ // axis, since ODE doesn't like this idea we have to create a
+ // capsule which uses the standard orientation, and apply a
+ // transform to it
+ if (axisindex == 0)
+ {
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+ radius = min(geomsize[1], geomsize[2]) * 0.5f;
+ }
+ else if (axisindex == 1)
+ {
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[2]) * 0.5f;
}
else
{
- ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
- dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[1]) * 0.5f;
+ }
+ length = geomsize[axisindex];
+ // check if length is not enough, reduce radius then
+ if (length <= 0)
+ {
+ radius -= (1 - length)*0.5;
+ length = 1;
}
+ ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
+ break;
+ case GEOMTYPE_CYLINDER_X:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+ radius = min(geomsize[1], geomsize[2]) * 0.5f;
+ length = geomsize[0];
+ ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCylinderTotal(&mass, massval, 1, radius, length);
+ break;
+ case GEOMTYPE_CYLINDER_Y:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[2]) * 0.5f;
+ length = geomsize[1];
+ ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCylinderTotal(&mass, massval, 2, radius, length);
+ break;
+ case GEOMTYPE_CYLINDER_Z:
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[1]) * 0.5f;
+ length = geomsize[2];
+ ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
+ dMassSetCylinderTotal(&mass, massval, 3, radius, length);
break;
default:
Sys_Error("World_Physics_BodyFromEntity: unrecognized geomtype value %i was accepted by filter\n", solid);
}
}
-#define MAX_CONTACTS 16
+#define MAX_CONTACTS 32
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
world_t *world = (world_t *)data;
// select object that moves faster ang get it's erp
erp = (VectorLength2(PRVM_gameedictvector(ed1, velocity)) > VectorLength2(PRVM_gameedictvector(ed2, velocity))) ? PRVM_gameedictfloat(ed1, erp) : PRVM_gameedictfloat(ed2, erp);
+ // get max contact points for this collision
+ numcontacts = (int)PRVM_gameedictfloat(ed1, maxcontacts);
+ if (!numcontacts)
+ numcontacts = physics_ode_contact_maxpoints.integer;
+ if (PRVM_gameedictfloat(ed2, maxcontacts))
+ numcontacts = max(numcontacts, (int)PRVM_gameedictfloat(ed2, maxcontacts));
+ else
+ numcontacts = max(numcontacts, physics_ode_contact_maxpoints.integer);
+
// generate contact points between the two non-space geoms
- numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
+ numcontacts = dCollide(o1, o2, min(MAX_CONTACTS, numcontacts), &(contact[0].geom), sizeof(contact[0]));
// add these contact points to the simulation
for (i = 0;i < numcontacts;i++)
{
int i;
prvm_edict_t *ed;
- world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
- if (physics_ode_constantstep.integer > 0 && physics_ode_constantstep.integer < 1)
- world->physics.ode_step = physics_ode_constantstep.integer / world->physics.ode_iterations;
- else if (physics_ode_constantstep.integer)
- world->physics.ode_step = sys_ticrate.integer / world->physics.ode_iterations;
- else
+ if (!physics_ode_constantstep.value)
+ {
+ world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
world->physics.ode_step = frametime / world->physics.ode_iterations;
+ }
+ else
+ {
+ world->physics.ode_time += frametime;
+ // step size
+ if (physics_ode_constantstep.value > 0 && physics_ode_constantstep.value < 1)
+ world->physics.ode_step = physics_ode_constantstep.value;
+ else
+ world->physics.ode_step = sys_ticrate.value;
+ if (world->physics.ode_time > 0.2f)
+ world->physics.ode_time = world->physics.ode_step;
+ // set number of iterations to process
+ world->physics.ode_iterations = 0;
+ while(world->physics.ode_time >= world->physics.ode_step)
+ {
+ world->physics.ode_iterations++;
+ world->physics.ode_time -= world->physics.ode_step;
+ }
+ }
world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
World_Physics_UpdateODE(world);
dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value);
// set the tolerance for closeness of objects
dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
-
// run collisions for the current world state, creating JointGroup
tdelta3 = Sys_DirtyTime();
dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
collisiontime += (Sys_DirtyTime() - tdelta3)*10000;
-
+ // apply forces
+ if (prog)
+ {
+ int j;
+ for (j = 0, ed = prog->edicts + j;j < prog->num_edicts;j++, ed++)
+ if (!prog->edicts[j].priv.required->free)
+ World_Physics_Frame_ForceFromEntity(world, ed);
+ }
// run physics (move objects, calculate new velocities)
// be sure not to pass 0 as step time because that causes an ODE error
dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200));
if (world->physics.ode_step > 0)
dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step);
-
// clear the JointGroup now that we're done with it
dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup);
}
if (dBodyIsEnabled(body))
world->physics.ode_activeovjects++;
}
- Con_Printf("ODE Stats(%s): %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, simulationtime, collisiontime, (Sys_DirtyTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects));
+ Con_Printf("ODE Stats(%s): %i iterations, %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, world->physics.ode_iterations, simulationtime, collisiontime, (Sys_DirtyTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects));
}
}
}
projects / xonotic / darkplaces.git / blobdiff