// world.c -- world query functions
#include "quakedef.h"
+#include "clvm_cmds.h"
+#include "cl_collision.h"
/*
*/
-cvar_t sv_areagrid_mingridsize = {CVAR_NOTIFY, "sv_areagrid_mingridsize", "64", "minimum areagrid cell size, smaller values work better for lots of small objects, higher values for large objects"};
-
+static void World_Physics_Init(void);
void World_Init(void)
{
- Cvar_RegisterVariable(&sv_areagrid_mingridsize);
Collision_Init();
+ World_Physics_Init();
+}
+
+static void World_Physics_Shutdown(void);
+void World_Shutdown(void)
+{
+ World_Physics_Shutdown();
+}
+
+static void World_Physics_Start(world_t *world);
+void World_Start(world_t *world)
+{
+ World_Physics_Start(world);
+}
+
+static void World_Physics_End(world_t *world);
+void World_End(world_t *world)
+{
+ World_Physics_End(world);
}
//============================================================================
-// World_ClearLink is used for new headnodes
+/// World_ClearLink is used for new headnodes
void World_ClearLink (link_t *l)
{
l->entitynumber = 0;
/*
===============
-World_Clear
+World_SetSize
===============
*/
-void World_Clear(world_t *world)
+void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs, prvm_prog_t *prog)
{
int i;
+
+ strlcpy(world->filename, filename, sizeof(world->filename));
+ VectorCopy(mins, world->mins);
+ VectorCopy(maxs, world->maxs);
+ world->prog = prog;
+
// the areagrid_marknumber is not allowed to be 0
if (world->areagrid_marknumber < 1)
world->areagrid_marknumber = 1;
// choose either the world box size, or a larger box to ensure the grid isn't too fine
- world->areagrid_size[0] = max(world->areagrid_maxs[0] - world->areagrid_mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
- world->areagrid_size[1] = max(world->areagrid_maxs[1] - world->areagrid_mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
- world->areagrid_size[2] = max(world->areagrid_maxs[2] - world->areagrid_mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
+ world->areagrid_size[0] = max(world->maxs[0] - world->mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
+ world->areagrid_size[1] = max(world->maxs[1] - world->mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
+ world->areagrid_size[2] = max(world->maxs[2] - world->mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
// figure out the corners of such a box, centered at the center of the world box
- world->areagrid_mins[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] - world->areagrid_size[0]) * 0.5f;
- world->areagrid_mins[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] - world->areagrid_size[1]) * 0.5f;
- world->areagrid_mins[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] - world->areagrid_size[2]) * 0.5f;
- world->areagrid_maxs[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] + world->areagrid_size[0]) * 0.5f;
- world->areagrid_maxs[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] + world->areagrid_size[1]) * 0.5f;
- world->areagrid_maxs[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] + world->areagrid_size[2]) * 0.5f;
+ world->areagrid_mins[0] = (world->mins[0] + world->maxs[0] - world->areagrid_size[0]) * 0.5f;
+ world->areagrid_mins[1] = (world->mins[1] + world->maxs[1] - world->areagrid_size[1]) * 0.5f;
+ world->areagrid_mins[2] = (world->mins[2] + world->maxs[2] - world->areagrid_size[2]) * 0.5f;
+ world->areagrid_maxs[0] = (world->mins[0] + world->maxs[0] + world->areagrid_size[0]) * 0.5f;
+ world->areagrid_maxs[1] = (world->mins[1] + world->maxs[1] + world->areagrid_size[1]) * 0.5f;
+ world->areagrid_maxs[2] = (world->mins[2] + world->maxs[2] + world->areagrid_size[2]) * 0.5f;
// now calculate the actual useful info from that
VectorNegate(world->areagrid_mins, world->areagrid_bias);
world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
World_ClearLink(&world->areagrid_outside);
for (i = 0;i < AREA_GRIDNODES;i++)
World_ClearLink(&world->areagrid[i]);
- Con_DPrintf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value);
+ if (developer_extra.integer)
+ Con_DPrintf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value);
}
+/*
+===============
+World_UnlinkAll
+
+===============
+*/
+void World_UnlinkAll(world_t *world)
+{
+ prvm_prog_t *prog = world->prog;
+ int i;
+ link_t *grid;
+ // unlink all entities one by one
+ grid = &world->areagrid_outside;
+ while (grid->next != grid)
+ World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
+ for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
+ while (grid->next != grid)
+ World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
+}
/*
===============
}
}
-int World_EntitiesInBox(world_t *world, vec3_t mins, vec3_t maxs, int maxlist, prvm_edict_t **list)
+int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t requestmaxs, int maxlist, prvm_edict_t **list)
{
+ prvm_prog_t *prog = world->prog;
int numlist;
link_t *grid;
link_t *l;
prvm_edict_t *ent;
+ vec3_t paddedmins, paddedmaxs;
int igrid[3], igridmins[3], igridmaxs[3];
+ // avoid crash in showtex code on level change
+ if (prog == NULL || prog->num_edicts < 1)
+ return 0;
+
+ // LordHavoc: discovered this actually causes its own bugs (dm6 teleporters being too close to info_teleport_destination)
+ //VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f);
+ //VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f);
+ VectorCopy(requestmins, paddedmins);
+ VectorCopy(requestmaxs, paddedmaxs);
+
// FIXME: if areagrid_marknumber wraps, all entities need their
// ent->priv.server->areagridmarknumber reset
world->areagrid_stats_calls++;
world->areagrid_marknumber++;
- igridmins[0] = (int) floor((mins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
- igridmins[1] = (int) floor((mins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
- //igridmins[2] = (int) ((mins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
- igridmaxs[0] = (int) floor((maxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
- igridmaxs[1] = (int) floor((maxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
- //igridmaxs[2] = (int) ((maxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
+ igridmins[0] = (int) floor((paddedmins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
+ igridmins[1] = (int) floor((paddedmins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
+ //igridmins[2] = (int) ((paddedmins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
+ igridmaxs[0] = (int) floor((paddedmaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
+ igridmaxs[1] = (int) floor((paddedmaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
+ //igridmaxs[2] = (int) ((paddedmaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
igridmins[0] = max(0, igridmins[0]);
igridmins[1] = max(0, igridmins[1]);
//igridmins[2] = max(0, igridmins[2]);
igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
//igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
+ // paranoid debugging
+ //VectorSet(igridmins, 0, 0, 0);VectorSet(igridmaxs, AREA_GRID, AREA_GRID, AREA_GRID);
+
numlist = 0;
// add entities not linked into areagrid because they are too big or
// outside the grid bounds
- if (world->areagrid_outside.next != &world->areagrid_outside)
+ if (world->areagrid_outside.next)
{
grid = &world->areagrid_outside;
for (l = grid->next;l != grid;l = l->next)
if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
{
ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
- if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
+ if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
{
if (numlist < maxlist)
list[numlist] = ent;
grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
{
- if (grid->next != grid)
+ if (grid->next)
{
for (l = grid->next;l != grid;l = l->next)
{
if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
{
ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
- if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
+ if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
{
if (numlist < maxlist)
list[numlist] = ent;
return numlist;
}
-void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
+static void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
{
+ prvm_prog_t *prog = world->prog;
link_t *grid;
int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
{
- Con_Printf ("SV_LinkEdict_AreaGrid: invalid edict %p (edicts is %p, edict compared to prog->edicts is %i)\n", ent, prog->edicts, entitynumber);
+ Con_Printf ("World_LinkEdict_AreaGrid: invalid edict %p (edicts is %p, edict compared to prog->edicts is %i)\n", (void *)ent, (void *)prog->edicts, entitynumber);
return;
}
- igridmins[0] = (int) floor((ent->priv.server->areamins[0] + sv.world.areagrid_bias[0]) * sv.world.areagrid_scale[0]);
- igridmins[1] = (int) floor((ent->priv.server->areamins[1] + sv.world.areagrid_bias[1]) * sv.world.areagrid_scale[1]);
- //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + sv.world.areagrid_bias[2]) * sv.world.areagrid_scale[2]);
- igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + sv.world.areagrid_bias[0]) * sv.world.areagrid_scale[0]) + 1;
- igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + sv.world.areagrid_bias[1]) * sv.world.areagrid_scale[1]) + 1;
- //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + sv.world.areagrid_bias[2]) * sv.world.areagrid_scale[2]) + 1;
+ igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
+ igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
+ //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
+ igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
+ igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
+ //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
{
// wow, something outside the grid, store it as such
- World_InsertLinkBefore (&ent->priv.server->areagrid[0], &sv.world.areagrid_outside, entitynumber);
+ World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
return;
}
gridnum = 0;
for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
{
- grid = sv.world.areagrid + igrid[1] * AREA_GRID + igridmins[0];
+ grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
}
*/
void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
{
+ prvm_prog_t *prog = world->prog;
// unlink from old position first
if (ent->priv.server->areagrid[0].prev)
World_UnlinkEdict(ent);
VectorCopy(maxs, ent->priv.server->areamaxs);
World_LinkEdict_AreaGrid(world, ent);
}
+
+
+
+
+//============================================================================
+// physics engine support
+//============================================================================
+
+#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_allowconvex = {0, "physics_ode_allowconvex", "0", "allow usage of Convex Hull primitive type on trimeshes that have custom 'collisionconvex' mesh. If disabled, trimesh primitive type are used."};
+cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"};
+cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep"};
+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"};
+cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear", "0.01", "world linear damping scale (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.1", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.05", "world angular damping scale (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.1", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_gravitymod = {0, "physics_ode_world_gravitymod", "1", "multiplies gravity got from sv_gravity, this may be needed to tweak if strong damping is used"};
+cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"};
+cvar_t physics_ode_constantstep = {0, "physics_ode_constantstep", "0", "use constant step instead of variable step which tends to increase stability, if set to 1 uses sys_ticrate, instead uses it's own value"};
+cvar_t physics_ode_autodisable = {0, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"};
+cvar_t physics_ode_autodisable_steps = {0, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"};
+cvar_t physics_ode_autodisable_time = {0, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"};
+cvar_t physics_ode_autodisable_threshold_linear = {0, "physics_ode_autodisable_threshold_linear", "0.6", "body will be disabled if it's linear move below this value"};
+cvar_t physics_ode_autodisable_threshold_angular = {0, "physics_ode_autodisable_threshold_angular", "6", "body will be disabled if it's angular move below this value"};
+cvar_t physics_ode_autodisable_threshold_samples = {0, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"};
+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, be aware that behavior depends of step type"};
+cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
+cvar_t physics_ode_trick_fixnan = {0, "physics_ode_trick_fixnan", "1", "engine trick that checks and fixes NaN velocity/origin/angles on objects, a value of 2 makes console prints on each fix"};
+cvar_t physics_ode_printstats = {0, "physics_ode_printstats", "0", "print ODE stats each frame"};
+
+cvar_t physics_ode = {0, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"};
+
+// LordHavoc: this large chunk of definitions comes from the ODE library
+// include files.
+
+#ifdef LINK_TO_LIBODE
+#include "ode/ode.h"
+#else
+#ifdef WINAPI
+// ODE does not use WINAPI
+#define ODE_API
+#else
+#define ODE_API
+#endif
+
+// note: dynamic builds of ODE tend to be double precision, this is not used
+// for static builds
+typedef double dReal;
+
+typedef dReal dVector3[4];
+typedef dReal dVector4[4];
+typedef dReal dMatrix3[4*3];
+typedef dReal dMatrix4[4*4];
+typedef dReal dMatrix6[8*6];
+typedef dReal dQuaternion[4];
+
+struct dxWorld; /* dynamics world */
+struct dxSpace; /* collision space */
+struct dxBody; /* rigid body (dynamics object) */
+struct dxGeom; /* geometry (collision object) */
+struct dxJoint;
+struct dxJointNode;
+struct dxJointGroup;
+struct dxTriMeshData;
+
+#define dInfinity 3.402823466e+38f
+
+typedef struct dxWorld *dWorldID;
+typedef struct dxSpace *dSpaceID;
+typedef struct dxBody *dBodyID;
+typedef struct dxGeom *dGeomID;
+typedef struct dxJoint *dJointID;
+typedef struct dxJointGroup *dJointGroupID;
+typedef struct dxTriMeshData *dTriMeshDataID;
+
+typedef struct dJointFeedback
+{
+ dVector3 f1; /* force applied to body 1 */
+ dVector3 t1; /* torque applied to body 1 */
+ dVector3 f2; /* force applied to body 2 */
+ dVector3 t2; /* torque applied to body 2 */
+}
+dJointFeedback;
+
+typedef enum dJointType
+{
+ dJointTypeNone = 0,
+ dJointTypeBall,
+ dJointTypeHinge,
+ dJointTypeSlider,
+ dJointTypeContact,
+ dJointTypeUniversal,
+ dJointTypeHinge2,
+ dJointTypeFixed,
+ dJointTypeNull,
+ dJointTypeAMotor,
+ dJointTypeLMotor,
+ dJointTypePlane2D,
+ dJointTypePR,
+ dJointTypePU,
+ dJointTypePiston
+}
+dJointType;
+
+#define D_ALL_PARAM_NAMES(start) \
+ /* parameters for limits and motors */ \
+ dParamLoStop = start, \
+ dParamHiStop, \
+ dParamVel, \
+ dParamFMax, \
+ dParamFudgeFactor, \
+ dParamBounce, \
+ dParamCFM, \
+ dParamStopERP, \
+ dParamStopCFM, \
+ /* parameters for suspension */ \
+ dParamSuspensionERP, \
+ dParamSuspensionCFM, \
+ dParamERP, \
+
+#define D_ALL_PARAM_NAMES_X(start,x) \
+ /* parameters for limits and motors */ \
+ dParamLoStop ## x = start, \
+ dParamHiStop ## x, \
+ dParamVel ## x, \
+ dParamFMax ## x, \
+ dParamFudgeFactor ## x, \
+ dParamBounce ## x, \
+ dParamCFM ## x, \
+ dParamStopERP ## x, \
+ dParamStopCFM ## x, \
+ /* parameters for suspension */ \
+ dParamSuspensionERP ## x, \
+ dParamSuspensionCFM ## x, \
+ dParamERP ## x,
+
+enum {
+ D_ALL_PARAM_NAMES(0)
+ D_ALL_PARAM_NAMES_X(0x100,2)
+ D_ALL_PARAM_NAMES_X(0x200,3)
+
+ /* add a multiple of this constant to the basic parameter numbers to get
+ * the parameters for the second, third etc axes.
+ */
+ dParamGroup=0x100
+};
+
+typedef struct dMass
+{
+ dReal mass;
+ dVector3 c;
+ dMatrix3 I;
+}
+dMass;
+
+enum
+{
+ dContactMu2 = 0x001,
+ dContactFDir1 = 0x002,
+ dContactBounce = 0x004,
+ dContactSoftERP = 0x008,
+ dContactSoftCFM = 0x010,
+ dContactMotion1 = 0x020,
+ dContactMotion2 = 0x040,
+ dContactMotionN = 0x080,
+ dContactSlip1 = 0x100,
+ dContactSlip2 = 0x200,
+
+ dContactApprox0 = 0x0000,
+ dContactApprox1_1 = 0x1000,
+ dContactApprox1_2 = 0x2000,
+ dContactApprox1 = 0x3000
+};
+
+typedef struct dSurfaceParameters
+{
+ /* must always be defined */
+ int mode;
+ dReal mu;
+
+ /* only defined if the corresponding flag is set in mode */
+ dReal mu2;
+ dReal bounce;
+ dReal bounce_vel;
+ dReal soft_erp;
+ dReal soft_cfm;
+ dReal motion1,motion2,motionN;
+ dReal slip1,slip2;
+} dSurfaceParameters;
+
+typedef struct dContactGeom
+{
+ dVector3 pos; ///< contact position
+ dVector3 normal; ///< normal vector
+ dReal depth; ///< penetration depth
+ dGeomID g1,g2; ///< the colliding geoms
+ int side1,side2; ///< (to be documented)
+}
+dContactGeom;
+
+typedef struct dContact
+{
+ dSurfaceParameters surface;
+ dContactGeom geom;
+ dVector3 fdir1;
+}
+dContact;
+
+typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
+
+// SAP
+// Order XZY or ZXY usually works best, if your Y is up.
+#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
+#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
+#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
+#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
+#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
+#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
+
+const char* (ODE_API *dGetConfiguration)(void);
+int (ODE_API *dCheckConfiguration)( const char* token );
+int (ODE_API *dInitODE)(void);
+//int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
+//int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
+//void (ODE_API *dCleanupODEAllDataForThread)(void);
+void (ODE_API *dCloseODE)(void);
+
+//int (ODE_API *dMassCheck)(const dMass *m);
+//void (ODE_API *dMassSetZero)(dMass *);
+//void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
+//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
+void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
+//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
+void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
+void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
+void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
+//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
+//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
+//void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
+//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
+//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
+//void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
+//
+dWorldID (ODE_API *dWorldCreate)(void);
+void (ODE_API *dWorldDestroy)(dWorldID world);
+void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
+void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
+void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
+//dReal (ODE_API *dWorldGetERP)(dWorldID);
+void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
+//dReal (ODE_API *dWorldGetCFM)(dWorldID);
+//void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
+//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
+void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
+void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
+//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
+//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
+//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
+//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
+//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
+void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
+//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
+//void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
+//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
+//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
+//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
+void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
+//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
+void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
+//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
+//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
+//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
+//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
+void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
+//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
+void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
+//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
+void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
+//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
+void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
+//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
+void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
+//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
+void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
+//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
+void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
+//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
+void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
+//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
+//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
+//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
+//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
+//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
+//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
+//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
+//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
+//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
+//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
+//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
+//dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
+dBodyID (ODE_API *dBodyCreate)(dWorldID);
+void (ODE_API *dBodyDestroy)(dBodyID);
+void (ODE_API *dBodySetData)(dBodyID, void *data);
+void * (ODE_API *dBodyGetData)(dBodyID);
+void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
+void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
+//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
+void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
+void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
+const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
+//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
+const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
+//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
+//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
+//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
+const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
+const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
+void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
+//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
+void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//const dReal * (ODE_API *dBodyGetForce)(dBodyID);
+//const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
+//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
+//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
+//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
+//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
+//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
+//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
+int (ODE_API *dBodyGetNumJoints)(dBodyID b);
+dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
+//void (ODE_API *dBodySetDynamic)(dBodyID);
+//void (ODE_API *dBodySetKinematic)(dBodyID);
+//int (ODE_API *dBodyIsKinematic)(dBodyID);
+void (ODE_API *dBodyEnable)(dBodyID);
+void (ODE_API *dBodyDisable)(dBodyID);
+int (ODE_API *dBodyIsEnabled)(dBodyID);
+void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
+int (ODE_API *dBodyGetGravityMode)(dBodyID b);
+//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
+//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
+//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
+//void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
+//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
+//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
+//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
+//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
+//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
+//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
+//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
+//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
+//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
+//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
+//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
+//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
+//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
+dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
+dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
+//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
+void (ODE_API *dJointDestroy)(dJointID);
+dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
+void (ODE_API *dJointGroupDestroy)(dJointGroupID);
+void (ODE_API *dJointGroupEmpty)(dJointGroupID);
+//int (ODE_API *dJointGetNumBodies)(dJointID);
+void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
+//void (ODE_API *dJointEnable)(dJointID);
+//void (ODE_API *dJointDisable)(dJointID);
+//int (ODE_API *dJointIsEnabled)(dJointID);
+void (ODE_API *dJointSetData)(dJointID, void *data);
+void * (ODE_API *dJointGetData)(dJointID);
+//dJointType (ODE_API *dJointGetType)(dJointID);
+dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
+//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
+//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
+void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
+void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
+void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
+void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
+void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
+void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
+//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
+//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
+//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
+//void (ODE_API *dJointSetFixed)(dJointID);
+//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
+//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
+//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
+//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
+//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
+//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
+//void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetHingeAngle)(dJointID);
+//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
+//dReal (ODE_API *dJointGetSliderPosition)(dJointID);
+//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
+//void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
+//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
+//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
+//void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
+//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
+//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
+//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
+//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
+//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPRPosition)(dJointID);
+//dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
+//dReal (ODE_API *dJointGetPRAngle)(dJointID);
+//dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
+//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
+//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPUPosition)(dJointID);
+//dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
+//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
+//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
+//dReal (ODE_API *dJointGetPUAngle1)(dJointID);
+//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
+//dReal (ODE_API *dJointGetPUAngle2)(dJointID);
+//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
+//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetPistonPosition)(dJointID);
+//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
+//dReal (ODE_API *dJointGetPistonAngle)(dJointID);
+//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
+//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
+//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
+//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
+//int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
+//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
+//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
+//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
+//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
+//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
+//int (ODE_API *dJointGetAMotorMode)(dJointID);
+//int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
+//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
+//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
+//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
+//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
+//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
+int (ODE_API *dAreConnected)(dBodyID, dBodyID);
+int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
+//
+dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
+dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
+dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
+//dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
+void (ODE_API *dSpaceDestroy)(dSpaceID);
+//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
+//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
+//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
+//int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
+//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
+//int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
+//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
+//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
+//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
+//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
+//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
+//void (ODE_API *dSpaceClean)(dSpaceID);
+//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
+//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
+//int (ODE_API *dSpaceGetClass)(dSpaceID space);
+//
+void (ODE_API *dGeomDestroy)(dGeomID geom);
+void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
+void * (ODE_API *dGeomGetData)(dGeomID geom);
+void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
+dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
+void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
+//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
+//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
+//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
+//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
+//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
+//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
+//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
+int (ODE_API *dGeomIsSpace)(dGeomID geom);
+//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
+//int (ODE_API *dGeomGetClass)(dGeomID geom);
+//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
+//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
+//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
+//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
+//void (ODE_API *dGeomEnable)(dGeomID geom);
+//void (ODE_API *dGeomDisable)(dGeomID geom);
+//int (ODE_API *dGeomIsEnabled)(dGeomID geom);
+//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
+//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
+//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
+//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
+//void (ODE_API *dGeomClearOffset)(dGeomID geom);
+//int (ODE_API *dGeomIsOffset)(dGeomID geom);
+//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
+//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
+//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
+//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
+//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
+int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
+//
+void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
+void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
+//
+dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
+//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
+//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
+//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
+//
+dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//
+dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
+//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
+//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
+//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//
+//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
+//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
+//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
+//
+dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
+//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
+//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
+//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
+//
+dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
+//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
+//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
+//
+//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
+//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
+//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
+//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
+//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
+//
+dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
+void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
+//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
+void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
+//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
+//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
+//int (ODE_API *dGeomTransformGetInfo)(dGeomID g);
+
+enum { TRIMESH_FACE_NORMALS };
+typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
+typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
+typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
+typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
+
+dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
+void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
+//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
+//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
+//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
+//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
+void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
+//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
+//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
+//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
+//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
+//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
+//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
+//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
+//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
+//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
+//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
+dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
+//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
+//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
+//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
+//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
+//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
+//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
+//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
+
+static dllfunction_t odefuncs[] =
+{
+ {"dGetConfiguration", (void **) &dGetConfiguration},
+ {"dCheckConfiguration", (void **) &dCheckConfiguration},
+ {"dInitODE", (void **) &dInitODE},
+// {"dInitODE2", (void **) &dInitODE2},
+// {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
+// {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
+ {"dCloseODE", (void **) &dCloseODE},
+// {"dMassCheck", (void **) &dMassCheck},
+// {"dMassSetZero", (void **) &dMassSetZero},
+// {"dMassSetParameters", (void **) &dMassSetParameters},
+// {"dMassSetSphere", (void **) &dMassSetSphere},
+ {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal},
+// {"dMassSetCapsule", (void **) &dMassSetCapsule},
+ {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal},
+// {"dMassSetCylinder", (void **) &dMassSetCylinder},
+ {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
+// {"dMassSetBox", (void **) &dMassSetBox},
+ {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal},
+// {"dMassSetTrimesh", (void **) &dMassSetTrimesh},
+// {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal},
+// {"dMassAdjust", (void **) &dMassAdjust},
+// {"dMassTranslate", (void **) &dMassTranslate},
+// {"dMassRotate", (void **) &dMassRotate},
+// {"dMassAdd", (void **) &dMassAdd},
+
+ {"dWorldCreate", (void **) &dWorldCreate},
+ {"dWorldDestroy", (void **) &dWorldDestroy},
+ {"dWorldSetGravity", (void **) &dWorldSetGravity},
+ {"dWorldGetGravity", (void **) &dWorldGetGravity},
+ {"dWorldSetERP", (void **) &dWorldSetERP},
+// {"dWorldGetERP", (void **) &dWorldGetERP},
+ {"dWorldSetCFM", (void **) &dWorldSetCFM},
+// {"dWorldGetCFM", (void **) &dWorldGetCFM},
+// {"dWorldStep", (void **) &dWorldStep},
+// {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
+ {"dWorldQuickStep", (void **) &dWorldQuickStep},
+ {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations},
+// {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations},
+// {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW},
+// {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW},
+// {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel},
+// {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel},
+ {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer},
+// {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer},
+// {"dWorldStepFast1", (void **) &dWorldStepFast1},
+// {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1},
+// {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1},
+// {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold},
+ {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
+// {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
+ {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
+// {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
+// {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
+// {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
+// {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
+// {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
+ {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
+// {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
+ {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
+// {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
+ {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
+// {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
+ {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
+// {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
+ {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
+// {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
+ {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
+// {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
+ {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
+// {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
+ {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
+// {"dWorldSetDamping", (void **) &dWorldSetDamping},
+// {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed},
+// {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed},
+// {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold},
+// {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold},
+// {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold},
+// {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold},
+// {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount},
+// {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount},
+// {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps},
+// {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps},
+// {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime},
+// {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime},
+// {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag},
+// {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag},
+// {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults},
+// {"dBodyGetWorld", (void **) &dBodyGetWorld},
+ {"dBodyCreate", (void **) &dBodyCreate},
+ {"dBodyDestroy", (void **) &dBodyDestroy},
+ {"dBodySetData", (void **) &dBodySetData},
+ {"dBodyGetData", (void **) &dBodyGetData},
+ {"dBodySetPosition", (void **) &dBodySetPosition},
+ {"dBodySetRotation", (void **) &dBodySetRotation},
+// {"dBodySetQuaternion", (void **) &dBodySetQuaternion},
+ {"dBodySetLinearVel", (void **) &dBodySetLinearVel},
+ {"dBodySetAngularVel", (void **) &dBodySetAngularVel},
+ {"dBodyGetPosition", (void **) &dBodyGetPosition},
+// {"dBodyCopyPosition", (void **) &dBodyCopyPosition},
+ {"dBodyGetRotation", (void **) &dBodyGetRotation},
+// {"dBodyCopyRotation", (void **) &dBodyCopyRotation},
+// {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion},
+// {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion},
+ {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel},
+ {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
+ {"dBodySetMass", (void **) &dBodySetMass},
+// {"dBodyGetMass", (void **) &dBodyGetMass},
+ {"dBodyAddForce", (void **) &dBodyAddForce},
+ {"dBodyAddTorque", (void **) &dBodyAddTorque},
+// {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
+// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
+ {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
+// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
+// {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
+// {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
+// {"dBodyGetForce", (void **) &dBodyGetForce},
+// {"dBodyGetTorque", (void **) &dBodyGetTorque},
+// {"dBodySetForce", (void **) &dBodySetForce},
+// {"dBodySetTorque", (void **) &dBodySetTorque},
+// {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos},
+// {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel},
+// {"dBodyGetPointVel", (void **) &dBodyGetPointVel},
+// {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint},
+// {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld},
+// {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld},
+// {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode},
+// {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis},
+// {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode},
+// {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis},
+ {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints},
+ {"dBodyGetJoint", (void **) &dBodyGetJoint},
+// {"dBodySetDynamic", (void **) &dBodySetDynamic},
+// {"dBodySetKinematic", (void **) &dBodySetKinematic},
+// {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
+ {"dBodyEnable", (void **) &dBodyEnable},
+ {"dBodyDisable", (void **) &dBodyDisable},
+ {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
+ {"dBodySetGravityMode", (void **) &dBodySetGravityMode},
+ {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
+// {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
+// {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom},
+// {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
+// {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
+// {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
+// {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
+// {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
+// {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
+// {"dBodySetDamping", (void **) &dBodySetDamping},
+// {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
+// {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
+// {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
+// {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
+// {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
+// {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
+// {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
+// {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
+ {"dJointCreateBall", (void **) &dJointCreateBall},
+ {"dJointCreateHinge", (void **) &dJointCreateHinge},
+ {"dJointCreateSlider", (void **) &dJointCreateSlider},
+ {"dJointCreateContact", (void **) &dJointCreateContact},
+ {"dJointCreateHinge2", (void **) &dJointCreateHinge2},
+ {"dJointCreateUniversal", (void **) &dJointCreateUniversal},
+// {"dJointCreatePR", (void **) &dJointCreatePR},
+// {"dJointCreatePU", (void **) &dJointCreatePU},
+// {"dJointCreatePiston", (void **) &dJointCreatePiston},
+ {"dJointCreateFixed", (void **) &dJointCreateFixed},
+// {"dJointCreateNull", (void **) &dJointCreateNull},
+// {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
+// {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
+// {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D},
+ {"dJointDestroy", (void **) &dJointDestroy},
+ {"dJointGroupCreate", (void **) &dJointGroupCreate},
+ {"dJointGroupDestroy", (void **) &dJointGroupDestroy},
+ {"dJointGroupEmpty", (void **) &dJointGroupEmpty},
+// {"dJointGetNumBodies", (void **) &dJointGetNumBodies},
+ {"dJointAttach", (void **) &dJointAttach},
+// {"dJointEnable", (void **) &dJointEnable},
+// {"dJointDisable", (void **) &dJointDisable},
+// {"dJointIsEnabled", (void **) &dJointIsEnabled},
+ {"dJointSetData", (void **) &dJointSetData},
+ {"dJointGetData", (void **) &dJointGetData},
+// {"dJointGetType", (void **) &dJointGetType},
+ {"dJointGetBody", (void **) &dJointGetBody},
+// {"dJointSetFeedback", (void **) &dJointSetFeedback},
+// {"dJointGetFeedback", (void **) &dJointGetFeedback},
+ {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor},
+// {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2},
+ {"dJointSetBallParam", (void **) &dJointSetBallParam},
+ {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor},
+// {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta},
+ {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis},
+// {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset},
+ {"dJointSetHingeParam", (void **) &dJointSetHingeParam},
+// {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque},
+ {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis},
+// {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta},
+ {"dJointSetSliderParam", (void **) &dJointSetSliderParam},
+// {"dJointAddSliderForce", (void **) &dJointAddSliderForce},
+ {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor},
+ {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1},
+ {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2},
+ {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param},
+// {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques},
+ {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor},
+ {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1},
+// {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset},
+ {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2},
+// {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset},
+ {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam},
+// {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques},
+// {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor},
+// {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1},
+// {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2},
+// {"dJointSetPRParam", (void **) &dJointSetPRParam},
+// {"dJointAddPRTorque", (void **) &dJointAddPRTorque},
+// {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor},
+// {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset},
+// {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1},
+// {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2},
+// {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3},
+// {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP},
+// {"dJointSetPUParam", (void **) &dJointSetPUParam},
+// {"dJointAddPUTorque", (void **) &dJointAddPUTorque},
+// {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor},
+// {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset},
+// {"dJointSetPistonParam", (void **) &dJointSetPistonParam},
+// {"dJointAddPistonForce", (void **) &dJointAddPistonForce},
+// {"dJointSetFixed", (void **) &dJointSetFixed},
+// {"dJointSetFixedParam", (void **) &dJointSetFixedParam},
+// {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes},
+// {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis},
+// {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle},
+// {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam},
+// {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode},
+// {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques},
+// {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes},
+// {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis},
+// {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam},
+// {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam},
+// {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam},
+// {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam},
+// {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor},
+// {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2},
+// {"dJointGetBallParam", (void **) &dJointGetBallParam},
+// {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor},
+// {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2},
+// {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis},
+// {"dJointGetHingeParam", (void **) &dJointGetHingeParam},
+// {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle},
+// {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate},
+// {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition},
+// {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate},
+// {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis},
+// {"dJointGetSliderParam", (void **) &dJointGetSliderParam},
+// {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor},
+// {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2},
+// {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1},
+// {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2},
+// {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param},
+// {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1},
+// {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate},
+// {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate},
+// {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor},
+// {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2},
+// {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1},
+// {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2},
+// {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam},
+// {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles},
+// {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1},
+// {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2},
+// {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate},
+// {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate},
+// {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor},
+// {"dJointGetPRPosition", (void **) &dJointGetPRPosition},
+// {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate},
+// {"dJointGetPRAngle", (void **) &dJointGetPRAngle},
+// {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate},
+// {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1},
+// {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2},
+// {"dJointGetPRParam", (void **) &dJointGetPRParam},
+// {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor},
+// {"dJointGetPUPosition", (void **) &dJointGetPUPosition},
+// {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate},
+// {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1},
+// {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2},
+// {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3},
+// {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP},
+// {"dJointGetPUAngles", (void **) &dJointGetPUAngles},
+// {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1},
+// {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate},
+// {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2},
+// {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate},
+// {"dJointGetPUParam", (void **) &dJointGetPUParam},
+// {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition},
+// {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate},
+// {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle},
+// {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate},
+// {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor},
+// {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2},
+// {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis},
+// {"dJointGetPistonParam", (void **) &dJointGetPistonParam},
+// {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes},
+// {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis},
+// {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel},
+// {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle},
+// {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate},
+// {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam},
+// {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode},
+// {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes},
+// {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis},
+// {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam},
+// {"dJointGetFixedParam", (void **) &dJointGetFixedParam},
+// {"dConnectingJoint", (void **) &dConnectingJoint},
+// {"dConnectingJointList", (void **) &dConnectingJointList},
+ {"dAreConnected", (void **) &dAreConnected},
+ {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding},
+ {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate},
+ {"dHashSpaceCreate", (void **) &dHashSpaceCreate},
+ {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate},
+// {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
+ {"dSpaceDestroy", (void **) &dSpaceDestroy},
+// {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels},
+// {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels},
+// {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup},
+// {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup},
+// {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel},
+// {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel},
+// {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup},
+// {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup},
+// {"dSpaceAdd", (void **) &dSpaceAdd},
+// {"dSpaceRemove", (void **) &dSpaceRemove},
+// {"dSpaceQuery", (void **) &dSpaceQuery},
+// {"dSpaceClean", (void **) &dSpaceClean},
+// {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms},
+// {"dSpaceGetGeom", (void **) &dSpaceGetGeom},
+// {"dSpaceGetClass", (void **) &dSpaceGetClass},
+ {"dGeomDestroy", (void **) &dGeomDestroy},
+ {"dGeomSetData", (void **) &dGeomSetData},
+ {"dGeomGetData", (void **) &dGeomGetData},
+ {"dGeomSetBody", (void **) &dGeomSetBody},
+ {"dGeomGetBody", (void **) &dGeomGetBody},
+ {"dGeomSetPosition", (void **) &dGeomSetPosition},
+ {"dGeomSetRotation", (void **) &dGeomSetRotation},
+// {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
+// {"dGeomGetPosition", (void **) &dGeomGetPosition},
+// {"dGeomCopyPosition", (void **) &dGeomCopyPosition},
+// {"dGeomGetRotation", (void **) &dGeomGetRotation},
+// {"dGeomCopyRotation", (void **) &dGeomCopyRotation},
+// {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion},
+// {"dGeomGetAABB", (void **) &dGeomGetAABB},
+ {"dGeomIsSpace", (void **) &dGeomIsSpace},
+// {"dGeomGetSpace", (void **) &dGeomGetSpace},
+// {"dGeomGetClass", (void **) &dGeomGetClass},
+// {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits},
+// {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits},
+// {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits},
+// {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits},
+// {"dGeomEnable", (void **) &dGeomEnable},
+// {"dGeomDisable", (void **) &dGeomDisable},
+// {"dGeomIsEnabled", (void **) &dGeomIsEnabled},
+// {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition},
+// {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation},
+// {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion},
+// {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition},
+// {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation},
+// {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion},
+// {"dGeomClearOffset", (void **) &dGeomClearOffset},
+// {"dGeomIsOffset", (void **) &dGeomIsOffset},
+// {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition},
+// {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition},
+// {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation},
+// {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation},
+// {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion},
+ {"dCollide", (void **) &dCollide},
+ {"dSpaceCollide", (void **) &dSpaceCollide},
+ {"dSpaceCollide2", (void **) &dSpaceCollide2},
+ {"dCreateSphere", (void **) &dCreateSphere},
+// {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
+// {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
+// {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
+ {"dCreateConvex", (void **) &dCreateConvex},
+// {"dGeomSetConvex", (void **) &dGeomSetConvex},
+ {"dCreateBox", (void **) &dCreateBox},
+// {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
+// {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths},
+// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
+// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
+// {"dCreatePlane", (void **) &dCreatePlane},
+// {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams},
+// {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams},
+// {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth},
+ {"dCreateCapsule", (void **) &dCreateCapsule},
+// {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams},
+// {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams},
+// {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth},
+ {"dCreateCylinder", (void **) &dCreateCylinder},
+// {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams},
+// {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams},
+// {"dCreateRay", (void **) &dCreateRay},
+// {"dGeomRaySetLength", (void **) &dGeomRaySetLength},
+// {"dGeomRayGetLength", (void **) &dGeomRayGetLength},
+// {"dGeomRaySet", (void **) &dGeomRaySet},
+// {"dGeomRayGet", (void **) &dGeomRayGet},
+ {"dCreateGeomTransform", (void **) &dCreateGeomTransform},
+ {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom},
+// {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom},
+ {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup},
+// {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup},
+// {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo},
+// {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo},
+ {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate},
+ {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy},
+// {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet},
+// {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet},
+// {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform},
+// {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform},
+ {"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle},
+// {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1},
+// {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble},
+// {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1},
+// {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple},
+// {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1},
+// {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess},
+// {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer},
+// {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer},
+// {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback},
+// {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback},
+// {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback},
+// {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback},
+// {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback},
+// {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback},
+// {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback},
+// {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback},
+ {"dCreateTriMesh", (void **) &dCreateTriMesh},
+// {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData},
+// {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData},
+// {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC},
+// {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled},
+// {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache},
+// {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID},
+// {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle},
+// {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint},
+// {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount},
+// {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate},
+ {NULL, NULL}
+};
+
+// Handle for ODE DLL
+dllhandle_t ode_dll = NULL;
+#endif
+#endif
+
+static void World_Physics_Init(void)
+{
+#ifdef USEODE
+#ifndef LINK_TO_LIBODE
+ const char* dllnames [] =
+ {
+# if defined(WIN32)
+ "libode3.dll",
+ "libode2.dll",
+ "libode1.dll",
+# elif defined(MACOSX)
+ "libode.3.dylib",
+ "libode.2.dylib",
+ "libode.1.dylib",
+# else
+ "libode.so.3",
+ "libode.so.2",
+ "libode.so.1",
+# endif
+ NULL
+ };
+#endif
+
+ Cvar_RegisterVariable(&physics_ode_quadtree_depth);
+ Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
+ Cvar_RegisterVariable(&physics_ode_worldstep_iterations);
+ 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);
+ Cvar_RegisterVariable(&physics_ode_world_damping_linear);
+ Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold);
+ Cvar_RegisterVariable(&physics_ode_world_damping_angular);
+ Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold);
+ Cvar_RegisterVariable(&physics_ode_world_gravitymod);
+ Cvar_RegisterVariable(&physics_ode_iterationsperframe);
+ Cvar_RegisterVariable(&physics_ode_constantstep);
+ Cvar_RegisterVariable(&physics_ode_movelimit);
+ Cvar_RegisterVariable(&physics_ode_spinlimit);
+ Cvar_RegisterVariable(&physics_ode_trick_fixnan);
+ Cvar_RegisterVariable(&physics_ode_autodisable);
+ Cvar_RegisterVariable(&physics_ode_autodisable_steps);
+ Cvar_RegisterVariable(&physics_ode_autodisable_time);
+ Cvar_RegisterVariable(&physics_ode_autodisable_threshold_linear);
+ Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular);
+ Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples);
+ Cvar_RegisterVariable(&physics_ode_printstats);
+ Cvar_RegisterVariable(&physics_ode_allowconvex);
+ Cvar_RegisterVariable(&physics_ode);
+
+#ifndef LINK_TO_LIBODE
+ // Load the DLL
+ if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
+#endif
+ {
+ dInitODE();
+// dInitODE2(0);
+#ifndef LINK_TO_LIBODE
+# ifdef dSINGLE
+ if (!dCheckConfiguration("ODE_single_precision"))
+# else
+ if (!dCheckConfiguration("ODE_double_precision"))
+# endif
+ {
+# ifdef dSINGLE
+ Con_Printf("ODE library not compiled for single precision - incompatible! Not using ODE physics.\n");
+# else
+ Con_Printf("ODE library not compiled for double precision - incompatible! Not using ODE physics.\n");
+# endif
+ Sys_UnloadLibrary(&ode_dll);
+ ode_dll = NULL;
+ }
+ else
+ {
+# ifdef dSINGLE
+ Con_Printf("ODE library loaded with single precision.\n");
+# else
+ Con_Printf("ODE library loaded with double precision.\n");
+# endif
+ Con_Printf("ODE configuration list: %s\n", dGetConfiguration());
+ }
+#endif
+ }
+#endif
+}
+
+static void World_Physics_Shutdown(void)
+{
+#ifdef USEODE
+#ifndef LINK_TO_LIBODE
+ if (ode_dll)
+#endif
+ {
+ dCloseODE();
+#ifndef LINK_TO_LIBODE
+ Sys_UnloadLibrary(&ode_dll);
+ ode_dll = NULL;
+#endif
+ }
+#endif
+}
+
+#ifdef USEODE
+static void World_Physics_UpdateODE(world_t *world)
+{
+ dWorldID odeworld;
+
+ odeworld = (dWorldID)world->physics.ode_world;
+
+ // ERP and CFM
+ if (physics_ode_world_erp.value >= 0)
+ dWorldSetERP(odeworld, physics_ode_world_erp.value);
+ if (physics_ode_world_cfm.value >= 0)
+ dWorldSetCFM(odeworld, physics_ode_world_cfm.value);
+ // Damping
+ if (physics_ode_world_damping.integer)
+ {
+ dWorldSetLinearDamping(odeworld, (physics_ode_world_damping_linear.value >= 0) ? (physics_ode_world_damping_linear.value * physics_ode_world_damping.value) : 0);
+ dWorldSetLinearDampingThreshold(odeworld, (physics_ode_world_damping_linear_threshold.value >= 0) ? (physics_ode_world_damping_linear_threshold.value * physics_ode_world_damping.value) : 0);
+ dWorldSetAngularDamping(odeworld, (physics_ode_world_damping_angular.value >= 0) ? (physics_ode_world_damping_angular.value * physics_ode_world_damping.value) : 0);
+ dWorldSetAngularDampingThreshold(odeworld, (physics_ode_world_damping_angular_threshold.value >= 0) ? (physics_ode_world_damping_angular_threshold.value * physics_ode_world_damping.value) : 0);
+ }
+ else
+ {
+ dWorldSetLinearDamping(odeworld, 0);
+ dWorldSetLinearDampingThreshold(odeworld, 0);
+ dWorldSetAngularDamping(odeworld, 0);
+ dWorldSetAngularDampingThreshold(odeworld, 0);
+ }
+ // Autodisable
+ dWorldSetAutoDisableFlag(odeworld, (physics_ode_autodisable.integer) ? 1 : 0);
+ if (physics_ode_autodisable.integer)
+ {
+ dWorldSetAutoDisableSteps(odeworld, bound(1, physics_ode_autodisable_steps.integer, 100));
+ dWorldSetAutoDisableTime(odeworld, physics_ode_autodisable_time.value);
+ dWorldSetAutoDisableAverageSamplesCount(odeworld, bound(1, physics_ode_autodisable_threshold_samples.integer, 100));
+ dWorldSetAutoDisableLinearThreshold(odeworld, physics_ode_autodisable_threshold_linear.value);
+ dWorldSetAutoDisableAngularThreshold(odeworld, physics_ode_autodisable_threshold_angular.value);
+ }
+}
+
+static void World_Physics_EnableODE(world_t *world)
+{
+ dVector3 center, extents;
+ if (world->physics.ode)
+ return;
+#ifndef LINK_TO_LIBODE
+ if (!ode_dll)
+ return;
+#endif
+ world->physics.ode = true;
+ VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
+ VectorSubtract(world->maxs, center, extents);
+ world->physics.ode_world = dWorldCreate();
+ world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
+ world->physics.ode_contactgroup = dJointGroupCreate(0);
+
+ World_Physics_UpdateODE(world);
+}
+#endif
+
+static void World_Physics_Start(world_t *world)
+{
+#ifdef USEODE
+ if (world->physics.ode)
+ return;
+ World_Physics_EnableODE(world);
+#endif
+}
+
+static void World_Physics_End(world_t *world)
+{
+#ifdef USEODE
+ if (world->physics.ode)
+ {
+ dWorldDestroy((dWorldID)world->physics.ode_world);
+ dSpaceDestroy((dSpaceID)world->physics.ode_space);
+ dJointGroupDestroy((dJointGroupID)world->physics.ode_contactgroup);
+ world->physics.ode = false;
+ }
+#endif
+}
+
+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)
+{
+ edict_odefunc_t *f, *nf;
+
+ // entity is not physics controlled, free any physics data
+ 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;
+ prvm_edict_t *ed2;
+ while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
+ {
+ j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
+ ed2 = (prvm_edict_t *) dJointGetData(j);
+ b1 = dJointGetBody(j, 0);
+ b2 = dJointGetBody(j, 1);
+ if(b1 == (dBodyID)ed->priv.server->ode_body)
+ {
+ b1 = 0;
+ ed2->priv.server->ode_joint_enemy = 0;
+ }
+ if(b2 == (dBodyID)ed->priv.server->ode_body)
+ {
+ b2 = 0;
+ ed2->priv.server->ode_joint_aiment = 0;
+ }
+ dJointAttach(j, b1, b2);
+ }
+ dBodyDestroy((dBodyID)ed->priv.server->ode_body);
+ }
+ ed->priv.server->ode_body = NULL;
+#endif
+ if (ed->priv.server->ode_vertex3f)
+ Mem_Free(ed->priv.server->ode_vertex3f);
+ ed->priv.server->ode_vertex3f = NULL;
+ ed->priv.server->ode_numvertices = 0;
+ if (ed->priv.server->ode_element3i)
+ Mem_Free(ed->priv.server->ode_element3i);
+ ed->priv.server->ode_element3i = NULL;
+ ed->priv.server->ode_numtriangles = 0;
+ if(ed->priv.server->ode_massbuf)
+ Mem_Free(ed->priv.server->ode_massbuf);
+ ed->priv.server->ode_massbuf = NULL;
+ // clear functions stack
+ for(f = ed->priv.server->ode_func; f; f = nf)
+ {
+ nf = f->next;
+ Mem_Free(f);
+ }
+ ed->priv.server->ode_func = NULL;
+}
+
+void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f)
+{
+#ifdef USEODE
+ dBodyID body = (dBodyID)ed->priv.server->ode_body;
+
+ switch(f->type)
+ {
+ case ODEFUNC_ENABLE:
+ dBodyEnable(body);
+ break;
+ case ODEFUNC_DISABLE:
+ dBodyDisable(body);
+ break;
+ case ODEFUNC_FORCE:
+ dBodyEnable(body);
+ dBodyAddForceAtPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
+ break;
+ case ODEFUNC_TORQUE:
+ dBodyEnable(body);
+ dBodyAddTorque(body, f->v1[0], f->v1[1], f->v1[2]);
+ break;
+ default:
+ break;
+ }
+#endif
+}
+
+#ifdef USEODE
+static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
+{
+ prvm_prog_t *prog = world->prog;
+ const dReal *avel;
+ const dReal *o;
+ const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
+ const dReal *vel;
+ dBodyID body = (dBodyID)ed->priv.server->ode_body;
+ int movetype;
+ matrix4x4_t bodymatrix;
+ matrix4x4_t entitymatrix;
+ 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;
+ movetype = (int)PRVM_gameedictfloat(ed, movetype);
+ if (movetype != MOVETYPE_PHYSICS)
+ {
+ jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
+ 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;
+ case JOINTTYPE_FIXED:
+ break;
+ }
+ return;
+ }
+ // store the physics engine data into the entity
+ o = dBodyGetPosition(body);
+ r = dBodyGetRotation(body);
+ vel = dBodyGetLinearVel(body);
+ avel = dBodyGetAngularVel(body);
+ VectorCopy(o, origin);
+ forward[0] = r[0];
+ forward[1] = r[4];
+ forward[2] = r[8];
+ left[0] = r[1];
+ left[1] = r[5];
+ left[2] = r[9];
+ up[0] = r[2];
+ up[1] = r[6];
+ up[2] = r[10];
+ VectorCopy(vel, velocity);
+ VectorCopy(avel, spinvelocity);
+ Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
+ Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
+ Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
+
+ AnglesFromVectors(angles, forward, up, false);
+ VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));
+
+ {
+ float pitchsign = 1;
+ if(prog == SVVM_prog) // FIXME some better way?
+ {
+ pitchsign = SV_GetPitchSign(prog, ed);
+ }
+ else if(prog == CLVM_prog)
+ {
+ pitchsign = CL_GetPitchSign(prog, ed);
+ }
+ angles[PITCH] *= pitchsign;
+ avelocity[PITCH] *= pitchsign;
+ }
+
+ VectorCopy(origin, PRVM_gameedictvector(ed, origin));
+ VectorCopy(velocity, PRVM_gameedictvector(ed, velocity));
+ //VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward));
+ //VectorCopy(left, PRVM_gameedictvector(ed, axis_left));
+ //VectorCopy(up, PRVM_gameedictvector(ed, axis_up));
+ //VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity));
+ VectorCopy(angles, PRVM_gameedictvector(ed, angles));
+ VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity));
+
+ // 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) != 0;
+
+ if(prog == SVVM_prog) // FIXME some better way?
+ {
+ SV_LinkEdict(ed);
+ SV_LinkEdict_TouchAreaGrid(ed);
+ }
+}
+
+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((dBodyID)prog->edicts[enemy].priv.server->ode_body);
+ switch(forcetype)
+ {
+ case FORCETYPE_FORCE:
+ if (movedir[0] || movedir[1] || movedir[2])
+ dBodyAddForce((dBodyID)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((dBodyID)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((dBodyID)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;
+ 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, 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);
+ enemy = PRVM_gameedictedict(ed, enemy);
+ aiment = PRVM_gameedictedict(ed, aiment);
+ VectorCopy(PRVM_gameedictvector(ed, origin), origin);
+ VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
+ VectorCopy(PRVM_gameedictvector(ed, angles), angles);
+ VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
+ if(movetype == MOVETYPE_PHYSICS)
+ 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)
+ aiment = 0;
+ // see http://www.ode.org/old_list_archives/2006-January/017614.html
+ // we want to set ERP? make it fps independent and work like a spring constant
+ // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
+ if(movedir[0] > 0 && movedir[1] > 0)
+ {
+ float K = movedir[0];
+ float D = movedir[1];
+ float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
+ CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0
+ ERP = world->physics.ode_step * K * CFM;
+ Vel = 0;
+ FMax = 0;
+ Stop = movedir[2];
+ }
+ else if(movedir[1] < 0)
+ {
+ CFM = 0;
+ ERP = 0;
+ Vel = movedir[0];
+ FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
+ Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
+ }
+ else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
+ {
+ CFM = 0;
+ ERP = 0;
+ Vel = 0;
+ FMax = 0;
+ Stop = dInfinity;
+ }
+ 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 && VectorCompare(movedir, ed->priv.server->ode_joint_movedir))
+ return; // nothing to do
+ AngleVectorsFLU(angles, forward, left, up);
+ switch(jointtype)
+ {
+ case JOINTTYPE_POINT:
+ j = dJointCreateBall((dWorldID)world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_HINGE:
+ j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_SLIDER:
+ j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_UNIVERSAL:
+ j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_HINGE2:
+ j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_FIXED:
+ j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_NONE:
+ default:
+ // no joint
+ j = 0;
+ break;
+ }
+ if(ed->priv.server->ode_joint)
+ {
+ //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
+ dJointAttach((dJointID)ed->priv.server->ode_joint, 0, 0);
+ dJointDestroy((dJointID)ed->priv.server->ode_joint);
+ }
+ 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);
+ VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
+ if(j)
+ {
+ //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
+ 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]);
+ dJointSetHingeParam(j, dParamFMax, FMax);
+ dJointSetHingeParam(j, dParamHiStop, Stop);
+ dJointSetHingeParam(j, dParamLoStop, -Stop);
+ dJointSetHingeParam(j, dParamStopCFM, CFM);
+ dJointSetHingeParam(j, dParamStopERP, ERP);
+ dJointSetHingeParam(j, dParamVel, Vel);
+ break;
+ case JOINTTYPE_SLIDER:
+ dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
+ dJointSetSliderParam(j, dParamFMax, FMax);
+ dJointSetSliderParam(j, dParamHiStop, Stop);
+ dJointSetSliderParam(j, dParamLoStop, -Stop);
+ dJointSetSliderParam(j, dParamStopCFM, CFM);
+ dJointSetSliderParam(j, dParamStopERP, ERP);
+ dJointSetSliderParam(j, dParamVel, Vel);
+ 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]);
+ dJointSetUniversalParam(j, dParamFMax, FMax);
+ dJointSetUniversalParam(j, dParamHiStop, Stop);
+ dJointSetUniversalParam(j, dParamLoStop, -Stop);
+ dJointSetUniversalParam(j, dParamStopCFM, CFM);
+ dJointSetUniversalParam(j, dParamStopERP, ERP);
+ dJointSetUniversalParam(j, dParamVel, Vel);
+ dJointSetUniversalParam(j, dParamFMax2, FMax);
+ dJointSetUniversalParam(j, dParamHiStop2, Stop);
+ dJointSetUniversalParam(j, dParamLoStop2, -Stop);
+ dJointSetUniversalParam(j, dParamStopCFM2, CFM);
+ dJointSetUniversalParam(j, dParamStopERP2, ERP);
+ dJointSetUniversalParam(j, dParamVel2, Vel);
+ 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]);
+ dJointSetHinge2Param(j, dParamFMax, FMax);
+ dJointSetHinge2Param(j, dParamHiStop, Stop);
+ dJointSetHinge2Param(j, dParamLoStop, -Stop);
+ dJointSetHinge2Param(j, dParamStopCFM, CFM);
+ dJointSetHinge2Param(j, dParamStopERP, ERP);
+ dJointSetHinge2Param(j, dParamVel, Vel);
+ dJointSetHinge2Param(j, dParamFMax2, FMax);
+ dJointSetHinge2Param(j, dParamHiStop2, Stop);
+ dJointSetHinge2Param(j, dParamLoStop2, -Stop);
+ dJointSetHinge2Param(j, dParamStopCFM2, CFM);
+ dJointSetHinge2Param(j, dParamStopERP2, ERP);
+ dJointSetHinge2Param(j, dParamVel2, Vel);
+ break;
+ case JOINTTYPE_FIXED:
+ break;
+ case 0:
+ default:
+ Sys_Error("what? but above the joint was valid...\n");
+ break;
+ }
+#undef SETPARAMS
+
+ }
+}
+
+// test convex geometry data
+// planes for a cube, these should coincide with the
+dReal test_convex_planes[] =
+{
+ 1.0f ,0.0f ,0.0f ,2.25f,
+ 0.0f ,1.0f ,0.0f ,2.25f,
+ 0.0f ,0.0f ,1.0f ,2.25f,
+ -1.0f,0.0f ,0.0f ,2.25f,
+ 0.0f ,-1.0f,0.0f ,2.25f,
+ 0.0f ,0.0f ,-1.0f,2.25f
+};
+const unsigned int test_convex_planecount = 6;
+// points for a cube
+dReal test_convex_points[] =
+{
+ 2.25f,2.25f,2.25f, // point 0
+ -2.25f,2.25f,2.25f, // point 1
+ 2.25f,-2.25f,2.25f, // point 2
+ -2.25f,-2.25f,2.25f, // point 3
+ 2.25f,2.25f,-2.25f, // point 4
+ -2.25f,2.25f,-2.25f, // point 5
+ 2.25f,-2.25f,-2.25f, // point 6
+ -2.25f,-2.25f,-2.25f, // point 7
+};
+const unsigned int test_convex_pointcount = 8;
+// polygons for a cube (6 squares), index
+unsigned int test_convex_polygons[] =
+{
+ 4,0,2,6,4, // positive X
+ 4,1,0,4,5, // positive Y
+ 4,0,1,3,2, // positive Z
+ 4,3,1,5,7, // negative X
+ 4,2,3,7,6, // negative Y
+ 4,5,4,6,7, // negative Z
+};
+
+static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
+{
+ prvm_prog_t *prog = world->prog;
+ const float *iv;
+ const int *ie;
+ dBodyID body;
+ dMass mass;
+ const dReal *ovelocity, *ospinvelocity;
+ void *dataID;
+ dp_model_t *model;
+ float *ov;
+ int *oe;
+ int axisindex;
+ int modelindex = 0;
+ int movetype = MOVETYPE_NONE;
+ int numtriangles;
+ int numvertices;
+ int solid = SOLID_NOT, geomtype = 0;
+ int triangleindex;
+ int vertexindex;
+ mempool_t *mempool;
+ qboolean modified = false;
+ vec3_t angles;
+ vec3_t avelocity;
+ vec3_t entmaxs;
+ vec3_t entmins;
+ vec3_t forward;
+ vec3_t geomcenter;
+ vec3_t geomsize;
+ vec3_t left;
+ vec3_t origin;
+ vec3_t spinvelocity;
+ vec3_t up;
+ vec3_t velocity;
+ vec_t f;
+ vec_t length;
+ vec_t massval = 1.0f;
+ vec_t movelimit;
+ vec_t radius;
+ vec3_t scale;
+ vec_t spinlimit;
+ vec_t test;
+ qboolean gravity;
+ qboolean geom_modified = false;
+ edict_odefunc_t *func, *nextf;
+
+ dReal *planes, *planesData, *pointsData;
+ unsigned int *polygons, *polygonsData, polyvert;
+ qboolean *mapped, *used, convex_compatible;
+ int numplanes = 0, numpoints = 0, i;
+
+#ifndef LINK_TO_LIBODE
+ if (!ode_dll)
+ return;
+#endif
+ VectorClear(entmins);
+ VectorClear(entmaxs);
+
+ solid = (int)PRVM_gameedictfloat(ed, solid);
+ geomtype = (int)PRVM_gameedictfloat(ed, geomtype);
+ movetype = (int)PRVM_gameedictfloat(ed, movetype);
+ // support scale and q3map/radiant's modelscale_vec
+ if (PRVM_gameedictvector(ed, modelscale_vec)[0] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[1] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[2] != 0.0)
+ VectorCopy(PRVM_gameedictvector(ed, modelscale_vec), scale);
+ else if (PRVM_gameedictfloat(ed, scale))
+ VectorSet(scale, PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale));
+ else
+ VectorSet(scale, 1.0f, 1.0f, 1.0f);
+ modelindex = 0;
+ if (PRVM_gameedictfloat(ed, mass))
+ massval = PRVM_gameedictfloat(ed, mass);
+ if (movetype != MOVETYPE_PHYSICS)
+ massval = 1.0f;
+ mempool = prog->progs_mempool;
+ model = NULL;
+ if (!geomtype)
+ {
+ // 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)
+ geomtype = GEOMTYPE_CAPSULE;
+ else if (solid == SOLID_PHYSICS_CYLINDER)
+ geomtype = GEOMTYPE_CYLINDER;
+ else if (solid == SOLID_PHYSICS_BOX)
+ geomtype = GEOMTYPE_BOX;
+ else
+ geomtype = GEOMTYPE_BOX;
+ }
+ if (geomtype == GEOMTYPE_TRIMESH)
+ {
+ modelindex = (int)PRVM_gameedictfloat(ed, modelindex);
+ if (world == &sv.world)
+ model = SV_GetModelByIndex(modelindex);
+ else if (world == &cl.world)
+ model = CL_GetModelByIndex(modelindex);
+ else
+ model = NULL;
+ if (model)
+ {
+ entmins[0] = model->normalmins[0] * scale[0];
+ entmins[1] = model->normalmins[1] * scale[1];
+ entmins[2] = model->normalmins[2] * scale[2];
+ entmaxs[0] = model->normalmaxs[0] * scale[0];
+ entmaxs[1] = model->normalmaxs[1] * scale[1];
+ entmaxs[2] = model->normalmaxs[2] * scale[2];
+ geom_modified = !VectorCompare(ed->priv.server->ode_scale, scale) || ed->priv.server->ode_modelindex != modelindex;
+ }
+ else
+ {
+ Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
+ geomtype = GEOMTYPE_BOX;
+ VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
+ VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
+ modelindex = 0;
+ geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
+ }
+ }
+ else if (geomtype && geomtype != GEOMTYPE_NONE)
+ {
+ VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
+ VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
+ geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
+ }
+ else
+ {
+ // geometry type not set, falling back
+ if (ed->priv.server->ode_physics)
+ World_Physics_RemoveFromEntity(world, ed);
+ return;
+ }
+
+ VectorSubtract(entmaxs, entmins, geomsize);
+ if (VectorLength2(geomsize) == 0)
+ {
+ // we don't allow point-size physics objects...
+ if (ed->priv.server->ode_physics)
+ World_Physics_RemoveFromEntity(world, ed);
+ return;
+ }
+
+ // get friction
+ ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction) ? PRVM_gameedictfloat(ed, friction) : 1.0f;
+
+ // check if we need to create or replace the geom
+ if (!ed->priv.server->ode_physics || ed->priv.server->ode_mass != massval || geom_modified)
+ {
+ modified = true;
+ World_Physics_RemoveFromEntity(world, ed);
+ ed->priv.server->ode_physics = true;
+ VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
+ if (PRVM_gameedictvector(ed, massofs))
+ VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs));
+
+ // check geomsize
+ if (geomsize[0] * geomsize[1] * geomsize[2] == 0)
+ {
+ if (movetype == MOVETYPE_PHYSICS)
+ Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
+ VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
+ }
+
+ // greate geom
+ switch(geomtype)
+ {
+ case GEOMTYPE_TRIMESH:
+ // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
+ if (!model->brush.collisionmesh)
+ Mod_CreateCollisionMesh(model);
+ if (!model->brush.collisionmesh)
+ {
+ Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
+ goto treatasbox;
+ }
+
+ // check if trimesh can be defined with convex
+ convex_compatible = false;
+ for (i = 0;i < model->nummodelsurfaces;i++)
+ {
+ if (!strcmp(((msurface_t *)(model->data_surfaces + model->firstmodelsurface + i))->texture->name, "collisionconvex"))
+ {
+ convex_compatible = true;
+ break;
+ }
+ }
+
+ // ODE requires persistent mesh storage, so we need to copy out
+ // the data from the model because renderer restarts could free it
+ // during the game, additionally we need to flip the triangles...
+ // note: ODE does preprocessing of the mesh for culling, removing
+ // concave edges, etc., so this is not a lightweight operation
+ ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
+ ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
+
+ // VorteX: rebuild geomsize based on entity's collision mesh, honor scale
+ VectorSet(entmins, 0, 0, 0);
+ VectorSet(entmaxs, 0, 0, 0);
+ for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
+ {
+ ov[0] = iv[0] * scale[0];
+ ov[1] = iv[1] * scale[1];
+ ov[2] = iv[2] * scale[2];
+ entmins[0] = min(entmins[0], ov[0]);
+ entmins[1] = min(entmins[1], ov[1]);
+ entmins[2] = min(entmins[2], ov[2]);
+ entmaxs[0] = max(entmaxs[0], ov[0]);
+ entmaxs[1] = max(entmaxs[1], ov[1]);
+ entmaxs[2] = max(entmaxs[2], ov[2]);
+ }
+ if (!PRVM_gameedictvector(ed, massofs))
+ VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
+ for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
+ {
+ ov[0] = ov[0] - geomcenter[0];
+ ov[1] = ov[1] - geomcenter[1];
+ ov[2] = ov[2] - geomcenter[2];
+ }
+ VectorSubtract(entmaxs, entmins, geomsize);
+ if (VectorLength2(geomsize) == 0)
+ {
+ if (movetype == MOVETYPE_PHYSICS)
+ Con_Printf("entity %i collision mesh has null geomsize\n", PRVM_NUM_FOR_EDICT(ed));
+ VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
+ }
+ ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
+ ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
+ //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
+ for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
+ {
+ oe[0] = ie[2];
+ oe[1] = ie[1];
+ oe[2] = ie[0];
+ }
+ // create geom
+ Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+ if (!convex_compatible || !physics_ode_allowconvex.integer)
+ {
+ // trimesh
+ dataID = dGeomTriMeshDataCreate();
+ dGeomTriMeshDataBuildSingle((dTriMeshDataID)dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3]));
+ ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL);
+ dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ }
+ else
+ {
+ // VorteX: this code is unfinished in two ways
+ // - no duplicate vertex merging are done
+ // - triangles that shares same edge and havee sam plane are not merget into poly
+ // so, currently it only works for geosphere meshes with no UV
+
+ Con_Printf("Build convex hull for model %s...\n", model->name);
+ // build convex geometry from trimesh data
+ // this ensures that trimesh's triangles can form correct convex geometry
+ // not many of error checking is performed
+ // ODE's conve hull data consist of:
+ // planes : an array of planes in the form: normal X, normal Y, normal Z, distance
+ // points : an array of points X,Y,Z
+ // polygons: an array of indices to the points of each polygon,it should be the number of vertices
+ // followed by that amount of indices to "points" in counter clockwise order
+ polygonsData = polygons = (unsigned int *)Mem_Alloc(mempool, numtriangles*sizeof(int)*4);
+ planesData = planes = (dReal *)Mem_Alloc(mempool, numtriangles*sizeof(dReal)*4);
+ mapped = (qboolean *)Mem_Alloc(mempool, numvertices*sizeof(qboolean));
+ used = (qboolean *)Mem_Alloc(mempool, numtriangles*sizeof(qboolean));
+ memset(mapped, 0, numvertices*sizeof(qboolean));
+ memset(used, 0, numtriangles*sizeof(qboolean));
+ numplanes = numpoints = polyvert = 0;
+ // build convex hull
+ // todo: merge duplicated verts here
+ Con_Printf("Building...\n");
+ iv = ed->priv.server->ode_vertex3f;
+ for (triangleindex = 0; triangleindex < numtriangles; triangleindex++)
+ {
+ // already formed a polygon?
+ if (used[triangleindex])
+ continue;
+ // init polygon
+ // switch clockwise->counterclockwise
+ ie = &model->brush.collisionmesh->element3i[triangleindex*3];
+ used[triangleindex] = true;
+ TriangleNormal(&iv[ie[0]*3], &iv[ie[1]*3], &iv[ie[2]*3], planes);
+ VectorNormalize(planes);
+ polygons[0] = 3;
+ polygons[3] = (unsigned int)ie[0]; mapped[polygons[3]] = true;
+ polygons[2] = (unsigned int)ie[1]; mapped[polygons[2]] = true;
+ polygons[1] = (unsigned int)ie[2]; mapped[polygons[1]] = true;
+
+ // now find and include concave triangles
+ for (i = triangleindex; i < numtriangles; i++)
+ {
+ if (used[i])
+ continue;
+ // should share at least 2 vertexes
+ for (polyvert = 1; polyvert <= polygons[0]; polyvert++)
+ {
+ // todo: merge in triangles that shares an edge and have same plane here
+ }
+ }
+
+ // add polygon to overall stats
+ planes[3] = DotProduct(&iv[polygons[1]*3], planes);
+ polygons += (polygons[0]+1);
+ planes += 4;
+ numplanes++;
+ }
+ Mem_Free(used);
+ // save points
+ for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
+ if (mapped[vertexindex])
+ numpoints++;
+ pointsData = (dReal *)Mem_Alloc(mempool, numpoints*sizeof(dReal)*3 + numplanes*sizeof(dReal)*4); // planes is appended
+ for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
+ {
+ if (mapped[vertexindex])
+ {
+ VectorCopy(&iv[vertexindex*3], &pointsData[numpoints*3]);
+ numpoints++;
+ }
+ }
+ Mem_Free(mapped);
+ Con_Printf("Points: \n");
+ for (i = 0; i < (int)numpoints; i++)
+ Con_Printf("%3i: %3.1f %3.1f %3.1f\n", i, pointsData[i*3], pointsData[i*3+1], pointsData[i*3+2]);
+ // save planes
+ planes = planesData;
+ planesData = pointsData + numpoints*3;
+ memcpy(planesData, planes, numplanes*sizeof(dReal)*4);
+ Mem_Free(planes);
+ Con_Printf("planes...\n");
+ for (i = 0; i < numplanes; i++)
+ Con_Printf("%3i: %1.1f %1.1f %1.1f %1.1f\n", i, planesData[i*4], planesData[i*4 + 1], planesData[i*4 + 2], planesData[i*4 + 3]);
+ // save polygons
+ polyvert = polygons - polygonsData;
+ polygons = polygonsData;
+ polygonsData = (unsigned int *)Mem_Alloc(mempool, polyvert*sizeof(int));
+ memcpy(polygonsData, polygons, polyvert*sizeof(int));
+ Mem_Free(polygons);
+ Con_Printf("Polygons: \n");
+ polygons = polygonsData;
+ for (i = 0; i < numplanes; i++)
+ {
+ Con_Printf("%3i : %i ", i, polygons[0]);
+ for (triangleindex = 1; triangleindex <= (int)polygons[0]; triangleindex++)
+ Con_Printf("%3i ", polygons[triangleindex]);
+ polygons += (polygons[0]+1);
+ Con_Printf("\n");
+ }
+ Mem_Free(ed->priv.server->ode_element3i);
+ ed->priv.server->ode_element3i = (int *)polygonsData;
+ Mem_Free(ed->priv.server->ode_vertex3f);
+ ed->priv.server->ode_vertex3f = (float *)pointsData;
+ // check for properly build polygons by calculating the determinant of the 3x3 matrix composed of the first 3 points in the polygon
+ // this code is picked from ODE Source
+ Con_Printf("Check...\n");
+ polygons = polygonsData;
+ for (i = 0; i < numplanes; i++)
+ {
+ if((pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+2] +
+ pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+0] +
+ pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+1] -
+ pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+0] -
+ pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+2] -
+ pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+1]) < 0)
+ Con_Printf("WARNING: Polygon %d is not defined counterclockwise\n", i);
+ if (planesData[(i*4)+3] < 0)
+ Con_Printf("WARNING: Plane %d does not contain the origin\n", i);
+ polygons += (*polygons + 1);
+ }
+ // create geom
+ Con_Printf("Create geom...\n");
+ ed->priv.server->ode_geom = (void *)dCreateConvex((dSpaceID)world->physics.ode_space, planesData, numplanes, pointsData, numpoints, polygonsData);
+ dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ Con_Printf("Done!\n");
+ }
+ break;
+ case GEOMTYPE_BOX:
+treatasbox:
+ Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+ ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
+ dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ break;
+ case GEOMTYPE_SPHERE:
+ Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+ ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f);
+ dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
+ break;
+ case GEOMTYPE_CAPSULE:
+ axisindex = 0;
+ if (geomsize[axisindex] < geomsize[1])
+ axisindex = 1;
+ if (geomsize[axisindex] < geomsize[2])
+ axisindex = 2;
+ // the qc gives us 3 axis radius, the longest axis is the capsule
+ // axis, since ODE doesn't like this idea we have to create a
+ // capsule which uses the standard orientation, and apply a
+ // transform to it
+ 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 = 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)
+ 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)
+ {
+ 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
+ {
+ 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);
+ // this goto only exists to prevent warnings from the compiler
+ // about uninitialized variables (mass), while allowing it to
+ // catch legitimate uninitialized variable warnings
+ goto treatasbox;
+ }
+ ed->priv.server->ode_mass = massval;
+ ed->priv.server->ode_modelindex = modelindex;
+ VectorCopy(entmins, ed->priv.server->ode_mins);
+ VectorCopy(entmaxs, ed->priv.server->ode_maxs);
+ VectorCopy(scale, ed->priv.server->ode_scale);
+ ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
+ Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
+ ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass));
+ memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass));
+ }
+
+ if (ed->priv.server->ode_geom)
+ dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed);
+ if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
+ {
+ // entity is dynamic
+ if (ed->priv.server->ode_body == NULL)
+ {
+ ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world));
+ dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
+ dBodySetData(body, (void*)ed);
+ dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
+ modified = true;
+ }
+ }
+ else
+ {
+ // entity is deactivated
+ if (ed->priv.server->ode_body != NULL)
+ {
+ if(ed->priv.server->ode_geom)
+ dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
+ dBodyDestroy((dBodyID) ed->priv.server->ode_body);
+ ed->priv.server->ode_body = NULL;
+ modified = true;
+ }
+ }
+
+ // get current data from entity
+ VectorClear(origin);
+ VectorClear(velocity);
+ //VectorClear(forward);
+ //VectorClear(left);
+ //VectorClear(up);
+ //VectorClear(spinvelocity);
+ VectorClear(angles);
+ VectorClear(avelocity);
+ gravity = true;
+ VectorCopy(PRVM_gameedictvector(ed, origin), origin);
+ VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
+ //VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward);
+ //VectorCopy(PRVM_gameedictvector(ed, axis_left), left);
+ //VectorCopy(PRVM_gameedictvector(ed, axis_up), up);
+ //VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity);
+ VectorCopy(PRVM_gameedictvector(ed, angles), angles);
+ VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity);
+ if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false;
+ if (ed == prog->edicts)
+ gravity = false;
+
+ // compatibility for legacy entities
+ //if (!VectorLength2(forward) || solid == SOLID_BSP)
+ {
+ float pitchsign = 1;
+ vec3_t qangles, qavelocity;
+ VectorCopy(angles, qangles);
+ VectorCopy(avelocity, qavelocity);
+
+ if(prog == SVVM_prog) // FIXME some better way?
+ {
+ pitchsign = SV_GetPitchSign(prog, ed);
+ }
+ else if(prog == CLVM_prog)
+ {
+ pitchsign = CL_GetPitchSign(prog, ed);
+ }
+ qangles[PITCH] *= pitchsign;
+ qavelocity[PITCH] *= pitchsign;
+
+ AngleVectorsFLU(qangles, forward, left, up);
+ // convert single-axis rotations in avelocity to spinvelocity
+ // FIXME: untested math - check signs
+ VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
+ }
+
+ // compatibility for legacy entities
+ switch (solid)
+ {
+ case SOLID_BBOX:
+ case SOLID_SLIDEBOX:
+ case SOLID_CORPSE:
+ VectorSet(forward, 1, 0, 0);
+ VectorSet(left, 0, 1, 0);
+ VectorSet(up, 0, 0, 1);
+ VectorSet(spinvelocity, 0, 0, 0);
+ break;
+ }
+
+
+ // we must prevent NANs...
+ if (physics_ode_trick_fixnan.integer)
+ {
+ test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
+ if (VEC_IS_NAN(test))
+ {
+ 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_gameedictstring(ed, classname)), 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]);
+ if (physics_ode_trick_fixnan.integer >= 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(prog, PRVM_gameedictstring(ed, classname)), 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 (VEC_IS_NAN(test))
+ VectorClear(origin);
+ test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
+ if (VEC_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(velocity);
+ if (VEC_IS_NAN(test))
+ VectorClear(velocity);
+ test = VectorLength2(spinvelocity);
+ if (VEC_IS_NAN(test))
+ {
+ 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 qc values into the physics engine
+ body = (dBodyID)ed->priv.server->ode_body;
+ if (modified && ed->priv.server->ode_geom)
+ {
+ dVector3 r[3];
+ matrix4x4_t entitymatrix;
+ matrix4x4_t bodymatrix;
+
+#if 0
+ Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
+ if(!VectorCompare(origin, ed->priv.server->ode_origin))
+ Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->priv.server->ode_origin[0], ed->priv.server->ode_origin[1], ed->priv.server->ode_origin[2], origin[0], origin[1], origin[2]);
+ if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
+ Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_velocity[0], ed->priv.server->ode_velocity[1], ed->priv.server->ode_velocity[2], velocity[0], velocity[1], velocity[2]);
+ if(!VectorCompare(angles, ed->priv.server->ode_angles))
+ Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->priv.server->ode_angles[0], ed->priv.server->ode_angles[1], ed->priv.server->ode_angles[2], angles[0], angles[1], angles[2]);
+ if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
+ Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_avelocity[0], ed->priv.server->ode_avelocity[1], ed->priv.server->ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]);
+ if(gravity != ed->priv.server->ode_gravity)
+ Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
+#endif
+ // 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 = gravity;
+
+ Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
+ Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
+ Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
+ r[0][0] = forward[0];
+ r[1][0] = forward[1];
+ r[2][0] = forward[2];
+ r[0][1] = left[0];
+ r[1][1] = left[1];
+ r[2][1] = left[2];
+ r[0][2] = up[0];
+ r[1][2] = up[1];
+ r[2][2] = up[2];
+ if (body)
+ {
+ if (movetype == MOVETYPE_PHYSICS)
+ {
+ dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
+ dBodySetPosition(body, origin[0], origin[1], origin[2]);
+ dBodySetRotation(body, r[0]);
+ dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
+ dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+ dBodySetGravityMode(body, gravity);
+ }
+ else
+ {
+ dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
+ dBodySetPosition(body, origin[0], origin[1], origin[2]);
+ dBodySetRotation(body, r[0]);
+ dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
+ dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+ dBodySetGravityMode(body, gravity);
+ dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
+ }
+ }
+ else
+ {
+ // no body... then let's adjust the parameters of the geom directly
+ dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
+ dGeomSetPosition((dGeomID)ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
+ dGeomSetRotation((dGeomID)ed->priv.server->ode_geom, r[0]);
+ }
+ }
+
+ if (body)
+ {
+
+ // limit movement speed to prevent missed collisions at high speed
+ ovelocity = dBodyGetLinearVel(body);
+ ospinvelocity = dBodyGetAngularVel(body);
+ movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
+ test = VectorLength2(ovelocity);
+ if (test > movelimit*movelimit)
+ {
+ // scale down linear velocity to the movelimit
+ // scale down angular velocity the same amount for consistency
+ f = movelimit / sqrt(test);
+ VectorScale(ovelocity, f, velocity);
+ VectorScale(ospinvelocity, f, spinvelocity);
+ dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
+ dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+ }
+
+ // make sure the angular velocity is not exploding
+ spinlimit = physics_ode_spinlimit.value;
+ test = VectorLength2(ospinvelocity);
+ if (test > spinlimit)
+ {
+ dBodySetAngularVel(body, 0, 0, 0);
+ }
+
+ // apply functions and clear stack
+ for(func = ed->priv.server->ode_func; func; func = nextf)
+ {
+ nextf = func->next;
+ World_Physics_ApplyCmd(ed, func);
+ Mem_Free(func);
+ }
+ ed->priv.server->ode_func = NULL;
+ }
+}
+
+#define MAX_CONTACTS 32
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+ world_t *world = (world_t *)data;
+ prvm_prog_t *prog = world->prog;
+ dContact contact[MAX_CONTACTS]; // max contacts per collision pair
+ int b1enabled = 0, b2enabled = 0;
+ dBodyID b1, b2;
+ dJointID c;
+ int i;
+ int numcontacts;
+ float bouncefactor1 = 0.0f;
+ float bouncestop1 = 60.0f / 800.0f;
+ float bouncefactor2 = 0.0f;
+ float bouncestop2 = 60.0f / 800.0f;
+ float erp;
+ dVector3 grav;
+ prvm_edict_t *ed1, *ed2;
+
+ if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+ {
+ // colliding a space with something
+ dSpaceCollide2(o1, o2, data, &nearCallback);
+ // Note we do not want to test intersections within a space,
+ // only between spaces.
+ //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
+ //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
+ return;
+ }
+
+ b1 = dGeomGetBody(o1);
+ if (b1)
+ b1enabled = dBodyIsEnabled(b1);
+ b2 = dGeomGetBody(o2);
+ if (b2)
+ b2enabled = dBodyIsEnabled(b2);
+
+ // at least one object has to be using MOVETYPE_PHYSICS and should be enabled or we just don't care
+ if (!b1enabled && !b2enabled)
+ return;
+
+ // exit without doing anything if the two bodies are connected by a joint
+ if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
+ return;
+
+ ed1 = (prvm_edict_t *) dGeomGetData(o1);
+ if(ed1 && ed1->priv.server->free)
+ ed1 = NULL;
+ if(ed1)
+ {
+ bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor);
+ bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop);
+ if (!bouncestop1)
+ bouncestop1 = 60.0f / 800.0f;
+ }
+
+ ed2 = (prvm_edict_t *) dGeomGetData(o2);
+ if(ed2 && ed2->priv.server->free)
+ ed2 = NULL;
+ if(ed2)
+ {
+ bouncefactor2 = PRVM_gameedictfloat(ed2, bouncefactor);
+ bouncestop2 = PRVM_gameedictfloat(ed2, bouncestop);
+ if (!bouncestop2)
+ bouncestop2 = 60.0f / 800.0f;
+ }
+
+ if(prog == SVVM_prog)
+ {
+ if(ed1 && PRVM_serveredictfunction(ed1, touch))
+ {
+ SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
+ }
+ if(ed2 && PRVM_serveredictfunction(ed2, touch))
+ {
+ SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
+ }
+ }
+
+ // 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((dWorldID)world->physics.ode_world, grav);
+ bouncestop1 *= fabs(grav[2]);
+
+ // get erp
+ // 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, min(MAX_CONTACTS, numcontacts), &(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) | (bouncefactor1 > 0 ? dContactBounce : 0);
+ contact[i].surface.mu = physics_ode_contact_mu.value * ed1->priv.server->ode_friction * ed2->priv.server->ode_friction;
+ contact[i].surface.soft_erp = physics_ode_contact_erp.value + erp;
+ contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
+ contact[i].surface.bounce = bouncefactor1;
+ contact[i].surface.bounce_vel = bouncestop1;
+ c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i);
+ dJointAttach(c, b1, b2);
+ }
+}
+#endif
+
+void World_Physics_Frame(world_t *world, double frametime, double gravity)
+{
+#ifdef USEODE
+ prvm_prog_t *prog = world->prog;
+ double tdelta, tdelta2, tdelta3, simulationtime, collisiontime;
+
+ tdelta = Sys_DirtyTime();
+ if (world->physics.ode && physics_ode.integer)
+ {
+ int i;
+ prvm_edict_t *ed;
+
+ 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);
+
+ // 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);
+ }
+
+ tdelta2 = Sys_DirtyTime();
+ collisiontime = 0;
+ for (i = 0;i < world->physics.ode_iterations;i++)
+ {
+ // set the gravity
+ 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);
+ }
+ simulationtime = (Sys_DirtyTime() - tdelta2)*10000;
+
+ // copy physics properties from physics engine to entities and do some stats
+ if (prog)
+ {
+ for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
+ if (!prog->edicts[i].priv.required->free)
+ World_Physics_Frame_BodyToEntity(world, ed);
+
+ // print stats
+ if (physics_ode_printstats.integer)
+ {
+ dBodyID body;
+
+ world->physics.ode_numobjects = 0;
+ world->physics.ode_activeovjects = 0;
+ for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
+ {
+ if (prog->edicts[i].priv.required->free)
+ continue;
+ body = (dBodyID)prog->edicts[i].priv.server->ode_body;
+ if (!body)
+ continue;
+ world->physics.ode_numobjects++;
+ if (dBodyIsEnabled(body))
+ 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));
+ }
+ }
+ }
+#endif
+}
projects / xonotic / darkplaces.git / blobdiff