#include "quakedef.h"
#include "clvm_cmds.h"
+#include "cl_collision.h"
/*
===============
*/
-void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs)
+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]);
- if (developer.integer >= 10)
- Con_Printf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value);
+ 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);
}
/*
*/
void World_UnlinkAll(world_t *world)
{
+ prvm_prog_t *prog = world->prog;
int i;
link_t *grid;
// unlink all entities one by one
}
}
-int World_EntitiesInBox(world_t *world, const vec3_t mins, const 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);
*/
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);
// physics engine support
//============================================================================
-//#ifndef ODE_STATIC
-//#define ODE_DYNAMIC 1
-//#endif
-
-#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
-#define USEODE 1
-#endif
-
#ifdef USEODE
cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
-cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"};
-cvar_t physics_ode_worldquickstep = {0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStepFast1 or dWorldStep"};
-cvar_t physics_ode_worldquickstep_iterations = {0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"};
-cvar_t physics_ode_worldstepfast = {0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"};
-cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"};
+cvar_t physics_ode_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_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
-cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"};
+cvar_t physics_ode_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 ODE_STATIC
+#ifdef LINK_TO_LIBODE
#include "ode/ode.h"
#else
#ifdef WINAPI
struct dxJointGroup;
struct dxTriMeshData;
+#define dInfinity 3.402823466e+38f
+
typedef struct dxWorld *dWorldID;
typedef struct dxSpace *dSpaceID;
typedef struct dxBody *dBodyID;
#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 );
+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 *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 *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);
//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 *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);
//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 *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);
+void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
-//void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
+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 );
+void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
-//void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
+void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
-//void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
+void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
-//void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
+void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
-//void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
+void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
-//void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
+void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
-//void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
+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 *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);
const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
-//void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
-//void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
-//void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+void (ODE_API *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);
//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 *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));
//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 *dJointCreateFixed)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
//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 *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 *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);
//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);
+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 *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);
+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);
//
static dllfunction_t odefuncs[] =
{
-// {"dGetConfiguration", (void **) &dGetConfiguration},
-// {"dCheckConfiguration", (void **) &dCheckConfiguration},
+ {"dGetConfiguration", (void **) &dGetConfiguration},
+ {"dCheckConfiguration", (void **) &dCheckConfiguration},
{"dInitODE", (void **) &dInitODE},
// {"dInitODE2", (void **) &dInitODE2},
// {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
// {"dMassSetCapsule", (void **) &dMassSetCapsule},
{"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal},
// {"dMassSetCylinder", (void **) &dMassSetCylinder},
-// {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
+ {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
// {"dMassSetBox", (void **) &dMassSetBox},
{"dMassSetBoxTotal", (void **) &dMassSetBoxTotal},
// {"dMassSetTrimesh", (void **) &dMassSetTrimesh},
// {"dWorldGetERP", (void **) &dWorldGetERP},
{"dWorldSetCFM", (void **) &dWorldSetCFM},
// {"dWorldGetCFM", (void **) &dWorldGetCFM},
- {"dWorldStep", (void **) &dWorldStep},
+// {"dWorldStep", (void **) &dWorldStep},
// {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
{"dWorldQuickStep", (void **) &dWorldQuickStep},
{"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations},
// {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel},
{"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer},
// {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer},
- {"dWorldStepFast1", (void **) &dWorldStepFast1},
+// {"dWorldStepFast1", (void **) &dWorldStepFast1},
// {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1},
// {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1},
// {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold},
-// {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
+ {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
// {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
-// {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
+ {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
// {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
// {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
// {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
// {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
// {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
-// {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
+ {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
// {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
-// {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
+ {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
// {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
-// {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
+ {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
// {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
-// {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
+ {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
// {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
-// {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
+ {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
// {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
-// {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
+ {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
// {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
-// {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
+ {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
// {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
-// {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
+ {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
// {"dWorldSetDamping", (void **) &dWorldSetDamping},
// {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed},
// {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed},
{"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
{"dBodySetMass", (void **) &dBodySetMass},
// {"dBodyGetMass", (void **) &dBodyGetMass},
-// {"dBodyAddForce", (void **) &dBodyAddForce},
-// {"dBodyAddTorque", (void **) &dBodyAddTorque},
+ {"dBodyAddForce", (void **) &dBodyAddForce},
+ {"dBodyAddTorque", (void **) &dBodyAddTorque},
// {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
-// {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
+ {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
// {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
// {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
// {"dBodySetDynamic", (void **) &dBodySetDynamic},
// {"dBodySetKinematic", (void **) &dBodySetKinematic},
// {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
-// {"dBodyEnable", (void **) &dBodyEnable},
-// {"dBodyDisable", (void **) &dBodyDisable},
-// {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
+ {"dBodyEnable", (void **) &dBodyEnable},
+ {"dBodyDisable", (void **) &dBodyDisable},
+ {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
{"dBodySetGravityMode", (void **) &dBodySetGravityMode},
{"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
// {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
// {"dJointCreatePR", (void **) &dJointCreatePR},
// {"dJointCreatePU", (void **) &dJointCreatePU},
// {"dJointCreatePiston", (void **) &dJointCreatePiston},
-// {"dJointCreateFixed", (void **) &dJointCreateFixed},
+ {"dJointCreateFixed", (void **) &dJointCreateFixed},
// {"dJointCreateNull", (void **) &dJointCreateNull},
// {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
// {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
// {"dSpaceGetGeom", (void **) &dSpaceGetGeom},
// {"dSpaceGetClass", (void **) &dSpaceGetClass},
{"dGeomDestroy", (void **) &dGeomDestroy},
-// {"dGeomSetData", (void **) &dGeomSetData},
-// {"dGeomGetData", (void **) &dGeomGetData},
+ {"dGeomSetData", (void **) &dGeomSetData},
+ {"dGeomGetData", (void **) &dGeomGetData},
{"dGeomSetBody", (void **) &dGeomSetBody},
{"dGeomGetBody", (void **) &dGeomGetBody},
-// {"dGeomSetPosition", (void **) &dGeomSetPosition},
+ {"dGeomSetPosition", (void **) &dGeomSetPosition},
{"dGeomSetRotation", (void **) &dGeomSetRotation},
// {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
// {"dGeomGetPosition", (void **) &dGeomGetPosition},
// {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
// {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
// {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
-// {"dCreateConvex", (void **) &dCreateConvex},
+ {"dCreateConvex", (void **) &dCreateConvex},
// {"dGeomSetConvex", (void **) &dGeomSetConvex},
{"dCreateBox", (void **) &dCreateBox},
// {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
// {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams},
// {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams},
// {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth},
-// {"dCreateCylinder", (void **) &dCreateCylinder},
+ {"dCreateCylinder", (void **) &dCreateCylinder},
// {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams},
// {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams},
// {"dCreateRay", (void **) &dCreateRay},
static void World_Physics_Init(void)
{
#ifdef USEODE
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
const char* dllnames [] =
{
-# if defined(WIN64)
- "libode1_64.dll",
-# elif defined(WIN32)
+# 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
Cvar_RegisterVariable(&physics_ode_quadtree_depth);
Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
- Cvar_RegisterVariable(&physics_ode_worldquickstep);
- Cvar_RegisterVariable(&physics_ode_worldquickstep_iterations);
- Cvar_RegisterVariable(&physics_ode_worldstepfast);
- Cvar_RegisterVariable(&physics_ode_worldstepfast_iterations);
+ Cvar_RegisterVariable(&physics_ode_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);
-
-#ifdef ODE_DYNAMIC
+ 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);
-#ifdef ODE_DNYAMIC
+#ifndef LINK_TO_LIBODE
# ifdef dSINGLE
if (!dCheckConfiguration("ODE_single_precision"))
# else
# endif
{
# ifdef dSINGLE
- Con_Printf("ode library not compiled for single precision - incompatible! Not using ODE physics.\n");
+ 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");
+ 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
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
if (ode_dll)
#endif
{
dCloseODE();
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
Sys_UnloadLibrary(&ode_dll);
ode_dll = NULL;
#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;
-#ifdef ODE_DYNAMIC
+#ifndef LINK_TO_LIBODE
if (!ode_dll)
return;
#endif
world->physics.ode_world = dWorldCreate();
world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
world->physics.ode_contactgroup = dJointGroupCreate(0);
- if(physics_ode_world_erp.value >= 0)
- dWorldSetERP(world->physics.ode_world, physics_ode_world_erp.value);
- if(physics_ode_world_cfm.value >= 0)
- dWorldSetCFM(world->physics.ode_world, physics_ode_world_cfm.value);
+
+ World_Physics_UpdateODE(world);
}
#endif
#ifdef USEODE
if (world->physics.ode)
{
- dWorldDestroy(world->physics.ode_world);
- dSpaceDestroy(world->physics.ode_space);
- dJointGroupDestroy(world->physics.ode_contactgroup);
+ 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_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
{
+ edict_odefunc_t *f, *nf;
+
// entity is not physics controlled, free any physics data
- prvm_edict_t *ed2;
ed->priv.server->ode_physics = false;
#ifdef USEODE
if (ed->priv.server->ode_geom)
{
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);
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
int movetype;
matrix4x4_t bodymatrix;
matrix4x4_t entitymatrix;
- prvm_eval_t *val;
vec3_t angles;
vec3_t avelocity;
vec3_t forward, left, up;
int jointtype;
if (!body)
return;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
- movetype = (int)val->_float;
+ movetype = (int)PRVM_gameedictfloat(ed, movetype);
if (movetype != MOVETYPE_PHYSICS)
{
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
+ jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
switch(jointtype)
{
// TODO feed back data from physics
break;
case JOINTTYPE_HINGE2:
break;
+ case JOINTTYPE_FIXED:
+ break;
}
return;
}
{
float pitchsign = 1;
- if(!strcmp(prog->name, "server")) // FIXME some better way?
+ if(prog == SVVM_prog) // FIXME some better way?
{
- pitchsign = SV_GetPitchSign(ed);
+ pitchsign = SV_GetPitchSign(prog, ed);
}
- else if(!strcmp(prog->name, "client"))
+ else if(prog == CLVM_prog)
{
- pitchsign = CL_GetPitchSign(ed);
+ pitchsign = CL_GetPitchSign(prog, ed);
}
angles[PITCH] *= pitchsign;
avelocity[PITCH] *= pitchsign;
}
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector);
- //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector);
- //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector);
- //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector);
- //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(angles, val->vector);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(avelocity, val->vector);
+ 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);
+ 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 jointtype = 0;
int enemy = 0, aiment = 0;
vec3_t origin, velocity, angles, forward, left, up, movedir;
- prvm_eval_t *val;
- float H = (!strcmp(prog->name, "server") ? sv.frametime : cl.mtime[0] - cl.mtime[1]) / world->physics.ode_iterations;
+ 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);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.enemy);if (val) enemy = val->_int;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.aiment);if (val) aiment = val->_int;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movedir);if (val) VectorCopy(val->vector, movedir);
+ 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 = 0; // can't have both
+ jointtype = JOINTTYPE_NONE; // can't have both
if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
enemy = 0;
if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
aiment = 0;
// see http://www.ode.org/old_list_archives/2006-January/017614.html
- if(movedir[0] > 0)
// 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[2];
+ float D = movedir[1];
float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
- float ERP = (H * K) / (H * K + R);
- float CFM = 1.0 / (H * K + R);
- movedir[0] = CFM;
- movedir[2] = ERP;
+ 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;
}
- movedir[1] *= H; // make movedir[1] actually "force per second" to allow this to be used for non-springs
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(world->physics.ode_world, 0);
+ j = dJointCreateBall((dWorldID)world->physics.ode_world, 0);
break;
case JOINTTYPE_HINGE:
- j = dJointCreateHinge(world->physics.ode_world, 0);
+ j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0);
break;
case JOINTTYPE_SLIDER:
- j = dJointCreateSlider(world->physics.ode_world, 0);
+ j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0);
break;
case JOINTTYPE_UNIVERSAL:
- j = dJointCreateUniversal(world->physics.ode_world, 0);
+ j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0);
break;
case JOINTTYPE_HINGE2:
- j = dJointCreateHinge2(world->physics.ode_world, 0);
+ j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0);
break;
- case 0:
+ 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;
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);
-#define SETPARAMS(t,id) \
- if(movedir[0] > 0) \
- dJointSet##t##Param(j, dParamCFM##id, movedir[0]); \
- else if(movedir[0] < 0) \
- dJointSet##t##Param(j, dParamCFM##id, 0); \
- if(movedir[1] > 0) \
- { \
- dJointSet##t##Param(j, dParamLoStop##id, 0); \
- dJointSet##t##Param(j, dParamHiStop##id, 0); \
- dJointSet##t##Param(j, dParamFMax##id, movedir[1]); \
- } \
- else \
- dJointSet##t##Param(j, dParamFMax##id, -movedir[1]); \
- if(movedir[2] > 0) \
- dJointSet##t##Param(j, dParamStopERP##id, movedir[2]); \
- else if(movedir[2] < 0) \
- dJointSet##t##Param(j, dParamStopERP##id, 0)
+
switch(jointtype)
{
case JOINTTYPE_POINT:
case JOINTTYPE_HINGE:
dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
- SETPARAMS(Hinge,);
+ 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]);
- SETPARAMS(Slider,);
+ 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]);
- SETPARAMS(Universal,);
- SETPARAMS(Universal,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]);
- SETPARAMS(Hinge2,);
- SETPARAMS(Hinge2,2);
+ 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:
- Host_Error("what? but above the joint was valid...\n");
+ 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 = (dBodyID)ed->priv.server->ode_body;
+ dBodyID body;
dMass mass;
- dReal test;
+ const dReal *ovelocity, *ospinvelocity;
void *dataID;
- dVector3 capsulerot[3];
dp_model_t *model;
float *ov;
int *oe;
int movetype = MOVETYPE_NONE;
int numtriangles;
int numvertices;
- int solid = SOLID_NOT;
+ int solid = SOLID_NOT, geomtype = 0;
int triangleindex;
int vertexindex;
mempool_t *mempool;
- prvm_eval_t *val;
qboolean modified = false;
vec3_t angles;
vec3_t avelocity;
vec_t massval = 1.0f;
vec_t movelimit;
vec_t radius;
- vec_t scale = 1.0f;
+ vec3_t scale;
vec_t spinlimit;
+ vec_t test;
qboolean gravity;
-#ifdef ODE_DYNAMIC
+ 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
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);if (val) solid = (int)val->_float;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val && val->_float) scale = val->_float;
+ 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;
- switch(solid)
+ 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)
{
- case SOLID_BSP:
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex);
- if (val)
- modelindex = (int)val->_float;
- if (world == &sv.world && modelindex >= 1 && modelindex < MAX_MODELS)
- {
- model = sv.models[modelindex];
- mempool = sv_mempool;
- }
- else if (world == &cl.world && modelindex >= 1 && modelindex < MAX_MODELS)
- {
- model = cl.model_precache[modelindex];
- mempool = cls.levelmempool;
- }
+ // 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;
- mempool = NULL;
- modelindex = 0;
- }
if (model)
{
- VectorScale(model->normalmins, scale, entmins);
- VectorScale(model->normalmaxs, scale, entmaxs);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
+ 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;
- massval = 1.0f;
+ geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
}
- break;
- case SOLID_BBOX:
- //case SOLID_SLIDEBOX:
- case SOLID_CORPSE:
- case SOLID_PHYSICS_BOX:
- case SOLID_PHYSICS_SPHERE:
- case SOLID_PHYSICS_CAPSULE:
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mins);if (val) VectorCopy(val->vector, entmins);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.maxs);if (val) VectorCopy(val->vector, entmaxs);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
- break;
- default:
+ }
+ 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;
return;
}
- if (movetype != MOVETYPE_PHYSICS)
- massval = 1.0f;
+ // 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
- || !VectorCompare(ed->priv.server->ode_mins, entmins)
- || !VectorCompare(ed->priv.server->ode_maxs, entmaxs)
- || ed->priv.server->ode_mass != massval
- || ed->priv.server->ode_modelindex != modelindex)
+ 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;
- VectorCopy(entmins, ed->priv.server->ode_mins);
- VectorCopy(entmaxs, ed->priv.server->ode_maxs);
- ed->priv.server->ode_mass = massval;
- ed->priv.server->ode_modelindex = modelindex;
VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
- ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
+ if (PRVM_gameedictvector(ed, massofs))
+ VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs));
- if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
+ // 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(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
- massval = 1.0f;
+ 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);
}
- switch(solid)
+ // greate geom
+ switch(geomtype)
{
- case SOLID_BSP:
- ed->priv.server->ode_offsetmatrix = identitymatrix;
- if (!model)
- {
- Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
- break;
- }
+ 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 || !model->brush.collisionmesh->numtriangles)
+ if (!model->brush.collisionmesh)
{
- Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
- break;
+ 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...
// 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] - geomcenter[0];
- ov[1] = iv[1] - geomcenter[1];
- ov[2] = iv[2] - geomcenter[2];
+ 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]));
oe[1] = ie[1];
oe[2] = ie[0];
}
+ // create geom
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
- // now create the geom
- dataID = dGeomTriMeshDataCreate();
- dGeomTriMeshDataBuildSingle(dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3]));
- ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
- ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
- dGeomSetBody(ed->priv.server->ode_geom, body);
- dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ 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 SOLID_BBOX:
- case SOLID_SLIDEBOX:
- case SOLID_CORPSE:
- case SOLID_PHYSICS_BOX:
+ case GEOMTYPE_BOX:
+treatasbox:
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
- ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
- ed->priv.server->ode_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
+ 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]);
- dGeomSetBody(ed->priv.server->ode_geom, body);
- dBodySetMass(body, &mass);
break;
- case SOLID_PHYSICS_SPHERE:
+ case GEOMTYPE_SPHERE:
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
- ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
- ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f);
+ ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f);
dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
- dGeomSetBody(ed->priv.server->ode_geom, body);
- dBodySetMass(body, &mass);
- dBodySetData(body, (void*)ed);
break;
- case SOLID_PHYSICS_CAPSULE:
+ case GEOMTYPE_CAPSULE:
axisindex = 0;
if (geomsize[axisindex] < geomsize[1])
axisindex = 1;
// axis, since ODE doesn't like this idea we have to create a
// capsule which uses the standard orientation, and apply a
// transform to it
- memset(capsulerot, 0, sizeof(capsulerot));
if (axisindex == 0)
+ {
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+ radius = min(geomsize[1], geomsize[2]) * 0.5f;
+ }
else if (axisindex == 1)
+ {
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ radius = min(geomsize[0], geomsize[2]) * 0.5f;
+ }
else
+ {
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
- radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
+ radius = min(geomsize[0], geomsize[1]) * 0.5f;
+ }
length = geomsize[axisindex] - radius*2;
// because we want to support more than one axisindex, we have to
// create a transform, and turn on its cleanup setting (which will
// cause the child to be destroyed when it is destroyed)
- ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
- ed->priv.server->ode_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length);
+ ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
- dGeomSetBody(ed->priv.server->ode_geom, body);
- dBodySetMass(body, &mass);
+ 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 solid value %i was accepted by filter\n", solid);
+ 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(angles);
VectorClear(avelocity);
gravity = true;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
- //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward);
- //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left);
- //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up);
- //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(val->vector, avelocity);
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.gravity);if (val) { if(val->_float != 0.0f && val->_float < 0.5f) gravity = false; }
- if(ed == prog->edicts)
+ 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)
{
- AngleVectorsFLU(angles, forward, left, up);
+ 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(avelocity[PITCH]), DEG2RAD(avelocity[ROLL]), DEG2RAD(avelocity[YAW]));
+ VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
}
// compatibility for legacy entities
// we must prevent NANs...
- test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
- if (IS_NAN(test))
+ if (physics_ode_trick_fixnan.integer)
{
- modified = true;
- //Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
- Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]);
- test = VectorLength2(origin);
- if (IS_NAN(test))
- VectorClear(origin);
- test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
- if (IS_NAN(test))
- {
- VectorSet(angles, 0, 0, 0);
- VectorSet(forward, 1, 0, 0);
- VectorSet(left, 0, 1, 0);
- VectorSet(up, 0, 0, 1);
- }
- test = VectorLength2(velocity);
- if (IS_NAN(test))
- VectorClear(velocity);
- test = VectorLength2(spinvelocity);
- if (IS_NAN(test))
+ test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
+ if (VEC_IS_NAN(test))
{
- VectorClear(avelocity);
- VectorClear(spinvelocity);
+ 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);
+ }
}
}
- // limit movement speed to prevent missed collisions at high speed
- movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
- test = VectorLength2(velocity);
- if (test > movelimit*movelimit)
- {
- modified = true;
- // scale down linear velocity to the movelimit
- // scale down angular velocity the same amount for consistency
- f = movelimit / sqrt(test);
- VectorScale(velocity, f, velocity);
- VectorScale(avelocity, f, avelocity);
- VectorScale(spinvelocity, f, spinvelocity);
- }
-
- // make sure the angular velocity is not exploding
- spinlimit = physics_ode_spinlimit.value;
- test = VectorLength2(spinvelocity);
- if (test > spinlimit)
- {
- modified = true;
- VectorClear(avelocity);
- VectorClear(spinvelocity);
- }
-
// check if the qc edited any position data
if (!VectorCompare(origin, ed->priv.server->ode_origin)
|| !VectorCompare(velocity, ed->priv.server->ode_velocity)
modified = true;
// store the qc values into the physics engine
- body = ed->priv.server->ode_body;
- if (body && modified)
+ body = (dBodyID)ed->priv.server->ode_body;
+ if (modified && ed->priv.server->ode_geom)
{
dVector3 r[3];
matrix4x4_t entitymatrix;
matrix4x4_t bodymatrix;
- {
- float pitchsign = 1;
- if(!strcmp(prog->name, "server")) // FIXME some better way?
- {
- pitchsign = SV_GetPitchSign(ed);
- }
- else if(!strcmp(prog->name, "client"))
- {
- pitchsign = CL_GetPitchSign(ed);
- }
- angles[PITCH] *= pitchsign;
- avelocity[PITCH] *= pitchsign;
- }
+#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);
r[0][2] = up[0];
r[1][2] = up[1];
r[2][2] = up[2];
- dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_body);
- dBodySetPosition(body, origin[0], origin[1], origin[2]);
- dBodySetRotation(body, r[0]);
- dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
- dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
- dBodySetGravityMode(body, gravity);
- dBodySetData(body, (void*)ed);
- // setting body to NULL makes an immovable object
- if (movetype != MOVETYPE_PHYSICS)
- dGeomSetBody(ed->priv.server->ode_geom, 0);
+ 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 16
+#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
- dBodyID b1;
- dBodyID b2;
+ int b1enabled = 0, b2enabled = 0;
+ dBodyID b1, b2;
dJointID c;
int i;
int numcontacts;
- prvm_eval_t *val;
float bouncefactor1 = 0.0f;
float bouncestop1 = 60.0f / 800.0f;
float bouncefactor2 = 0.0f;
float bouncestop2 = 60.0f / 800.0f;
+ float erp;
dVector3 grav;
- prvm_edict_t *ed;
+ prvm_edict_t *ed1, *ed2;
if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
{
}
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 or we just don't care
- if (!b1 && !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;
- if(b1)
+ ed1 = (prvm_edict_t *) dGeomGetData(o1);
+ if(ed1 && ed1->priv.server->free)
+ ed1 = NULL;
+ if(ed1)
{
- ed = (prvm_edict_t *) dBodyGetData(b1);
- if(ed)
- {
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor);
- if (val!=0 && val->_float)
- bouncefactor1 = val->_float;
+ bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor);
+ bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop);
+ if (!bouncestop1)
+ bouncestop1 = 60.0f / 800.0f;
+ }
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop);
- if (val!=0 && val->_float)
- bouncestop1 = val->_float;
- }
+ 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(b2)
+ if(prog == SVVM_prog)
{
- ed = (prvm_edict_t *) dBodyGetData(b2);
- if(ed)
+ if(ed1 && PRVM_serveredictfunction(ed1, touch))
{
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor);
- if (val!=0 && val->_float)
- bouncefactor2 = val->_float;
-
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop);
- if (val!=0 && val->_float)
- bouncestop2 = val->_float;
+ SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
+ }
+ if(ed2 && PRVM_serveredictfunction(ed2, touch))
+ {
+ SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
}
}
bouncefactor1 = bouncefactor2;
}
}
- dWorldGetGravity(world->physics.ode_world, grav);
+ 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, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
+ numcontacts = dCollide(o1, o2, min(MAX_CONTACTS, numcontacts), &(contact[0].geom), sizeof(contact[0]));
// add these contact points to the simulation
for (i = 0;i < numcontacts;i++)
{
contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0) | (bouncefactor1 > 0 ? dContactBounce : 0);
- contact[i].surface.mu = physics_ode_contact_mu.value;
- contact[i].surface.soft_erp = physics_ode_contact_erp.value;
+ contact[i].surface.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(world->physics.ode_world, world->physics.ode_contactgroup, contact + i);
+ c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i);
dJointAttach(c, b1, b2);
}
}
void World_Physics_Frame(world_t *world, double frametime, double gravity)
{
#ifdef USEODE
- if (world->physics.ode)
+ 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)
{
World_Physics_Frame_JointFromEntity(world, ed);
}
- world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
- world->physics.ode_step = frametime / world->physics.ode_iterations;
- world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
+ tdelta2 = Sys_DirtyTime();
+ collisiontime = 0;
for (i = 0;i < world->physics.ode_iterations;i++)
{
// set the gravity
- dWorldSetGravity(world->physics.ode_world, 0, 0, -gravity);
+ dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value);
// set the tolerance for closeness of objects
- dWorldSetContactSurfaceLayer(world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
-
+ dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
// run collisions for the current world state, creating JointGroup
- dSpaceCollide(world->physics.ode_space, (void *)world, nearCallback);
-
- // run physics (move objects, calculate new velocities)
- if (physics_ode_worldquickstep.integer)
+ tdelta3 = Sys_DirtyTime();
+ dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
+ collisiontime += (Sys_DirtyTime() - tdelta3)*10000;
+ // apply forces
+ if (prog)
{
- dWorldSetQuickStepNumIterations(world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200));
- dWorldQuickStep(world->physics.ode_world, world->physics.ode_step);
+ 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);
}
- else if (physics_ode_worldstepfast.integer)
- dWorldStepFast1(world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstepfast_iterations.integer, 200));
- else
- dWorldStep(world->physics.ode_world, world->physics.ode_step);
-
+ // 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(world->physics.ode_contactgroup);
+ dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup);
}
+ simulationtime = (Sys_DirtyTime() - tdelta2)*10000;
- // copy physics properties from physics engine to entities
+ // 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 && PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype)->_float == MOVETYPE_PHYSICS)
+ 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