#include "quakedef.h"
#include "clvm_cmds.h"
+#include "cl_collision.h"
/*
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);
}
/*
// physics engine support
//============================================================================
-//#ifndef ODE_STATIC
-//#define ODE_DYNAMIC 1
-//#endif
+#ifndef ODE_STATIC
+# define ODE_DYNAMIC 1
+#endif
#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
#define USEODE 1
cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
-cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
+cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"};
cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"};
cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
+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.
struct dxJointGroup;
struct dxTriMeshData;
+#define dInfinity 3.402823466e+38f
+
typedef struct dxWorld *dWorldID;
typedef struct dxSpace *dSpaceID;
typedef struct dxBody *dBodyID;
#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
//const char* (ODE_API *dGetConfiguration)(void);
-//int (ODE_API *dCheckConfiguration)( const char* token );
+int (ODE_API *dCheckConfiguration)( const char* token );
int (ODE_API *dInitODE)(void);
//int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
//int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
//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);
static dllfunction_t odefuncs[] =
{
// {"dGetConfiguration", (void **) &dGetConfiguration},
-// {"dCheckConfiguration", (void **) &dCheckConfiguration},
+ {"dCheckConfiguration", (void **) &dCheckConfiguration},
{"dInitODE", (void **) &dInitODE},
// {"dInitODE2", (void **) &dInitODE2},
// {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
// {"dJointCreatePR", (void **) &dJointCreatePR},
// {"dJointCreatePU", (void **) &dJointCreatePU},
// {"dJointCreatePiston", (void **) &dJointCreatePiston},
-// {"dJointCreateFixed", (void **) &dJointCreateFixed},
+ {"dJointCreateFixed", (void **) &dJointCreateFixed},
// {"dJointCreateNull", (void **) &dJointCreateNull},
// {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
// {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
#ifdef ODE_DYNAMIC
const char* dllnames [] =
{
-# if defined(WIN64)
- "libode1_64.dll",
-# elif defined(WIN32)
+# if defined(WIN32)
"libode1.dll",
# elif defined(MACOSX)
"libode.1.dylib",
Cvar_RegisterVariable(&physics_ode_iterationsperframe);
Cvar_RegisterVariable(&physics_ode_movelimit);
Cvar_RegisterVariable(&physics_ode_spinlimit);
+ Cvar_RegisterVariable(&physics_ode);
#ifdef ODE_DYNAMIC
// Load the DLL
{
dInitODE();
// dInitODE2(0);
-#ifdef ODE_DNYAMIC
+#ifdef ODE_DYNAMIC
# ifdef dSINGLE
if (!dCheckConfiguration("ODE_single_precision"))
# else
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);
+ dWorldSetERP((dWorldID)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);
+ dWorldSetCFM((dWorldID)world->physics.ode_world, physics_ode_world_cfm.value);
}
#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
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;
}
#ifdef USEODE
movetype = (int)val->_float;
if (movetype != MOVETYPE_PHYSICS)
{
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
+ jointtype = 0;val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
switch(jointtype)
{
// TODO feed back data from physics
break;
case JOINTTYPE_HINGE2:
break;
+ case JOINTTYPE_FIXED:
+ break;
}
return;
}
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(!strcmp(prog->name, "server")) // FIXME some better way?
{
int jointtype = 0;
int enemy = 0, aiment = 0;
vec3_t origin, velocity, angles, forward, left, up, movedir;
+ vec_t CFM, ERP, FMax, Stop, Vel;
prvm_eval_t *val;
- float H = (!strcmp(prog->name, "server") ? sv.frametime : cl.mtime[0] - cl.mtime[1]) / bound(1, physics_ode_iterationsperframe.integer, 1000);
VectorClear(origin);
VectorClear(velocity);
VectorClear(angles);
+ VectorClear(movedir);
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;
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 JOINTTYPE_FIXED:
+ j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
break;
case 0:
default:
if(ed->priv.server->ode_joint)
{
//Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
- dJointAttach(ed->priv.server->ode_joint, 0, 0);
- dJointDestroy(ed->priv.server->ode_joint);
+ 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;
if(aiment)
b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
dJointAttach(j, b1, b2);
-#define SETPARAMS(t,id) \
- dJointSet##t##Param(j, dParamStopCFM##id, movedir[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, dParamLoStop##id, -dInfinity); \
- dJointSet##t##Param(j, dParamHiStop##id, dInfinity); \
- dJointSet##t##Param(j, dParamFMax##id, -movedir[1]); \
- } \
- dJointSet##t##Param(j, dParamStopERP##id, movedir[2])
+
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
+
}
}
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.scale);if (val && val->_float) scale = val->_float;
modelindex = 0;
+ if (world == &sv.world)
+ mempool = sv_mempool;
+ else if (world == &cl.world)
+ mempool = cls.levelmempool;
+ else
+ mempool = NULL;
+ model = NULL;
switch(solid)
{
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;
- }
+ 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);
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;
+ goto treatasbox;
}
// add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
if (!model->brush.collisionmesh)
if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles)
{
Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
- break;
+ goto treatasbox;
}
// ODE requires persistent mesh storage, so we need to copy out
// the data from the model because renderer restarts could free it
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_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
+ 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]);
break;
case SOLID_BBOX:
case SOLID_SLIDEBOX:
case SOLID_CORPSE:
case SOLID_PHYSICS_BOX:
+treatasbox:
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
- 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]);
break;
case SOLID_PHYSICS_SPHERE:
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
- 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);
break;
case SOLID_PHYSICS_CAPSULE:
// because we want to support more than one axisindex, we have to
// create a transform, and turn on its cleanup setting (which will
// cause the child to be destroyed when it is destroyed)
- ed->priv.server->ode_geom = (void *)dCreateCapsule(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);
break;
default:
Sys_Error("World_Physics_BodyFromEntity: unrecognized solid 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;
}
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(ed->priv.server->ode_geom, (void*)ed);
+ dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed);
if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
{
if (ed->priv.server->ode_body == NULL)
{
- ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
- dGeomSetBody(ed->priv.server->ode_geom, body);
+ 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, &mass);
+ dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
+ modified = true;
}
}
else
{
- // let's keep the body around in case we need it again (in case QC toggles between MOVETYPE_PHYSICS and MOVETYPE_NONE)
+ 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
// 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(!strcmp(prog->name, "server")) // FIXME some better way?
+ {
+ pitchsign = SV_GetPitchSign(ed);
+ }
+ else if(!strcmp(prog->name, "client"))
+ {
+ pitchsign = CL_GetPitchSign(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
modified = true;
// store the qc values into the physics engine
- body = ed->priv.server->ode_body;
- if (modified)
+ body = (dBodyID)ed->priv.server->ode_body;
+ if (modified && ed->priv.server->ode_geom)
{
dVector3 r[3];
matrix4x4_t entitymatrix;
VectorCopy(avelocity, ed->priv.server->ode_avelocity);
ed->priv.server->ode_gravity = gravity;
- {
- float pitchsign = 1;
- if(!strcmp(prog->name, "server")) // FIXME some better way?
- {
- pitchsign = SV_GetPitchSign(ed);
- }
- else if(!strcmp(prog->name, "client"))
- {
- pitchsign = CL_GetPitchSign(ed);
- }
- angles[PITCH] *= pitchsign;
- avelocity[PITCH] *= pitchsign;
- }
-
Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
{
if(movetype == MOVETYPE_PHYSICS)
{
- dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_body);
+ 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]);
}
else
{
- dGeomSetBody(ed->priv.server->ode_geom, 0);
- dGeomSetPosition(ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
- dGeomSetRotation(ed->priv.server->ode_geom, r[0]);
+ 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(ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
- dGeomSetPosition(ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
- dGeomSetRotation(ed->priv.server->ode_geom, r[0]);
+ 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]);
}
}
bouncefactor1 = bouncefactor2;
}
}
- dWorldGetGravity(world->physics.ode_world, grav);
+ dWorldGetGravity((dWorldID)world->physics.ode_world, grav);
bouncestop1 *= fabs(grav[2]);
// generate contact points between the two non-space geoms
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)
+ if (world->physics.ode && physics_ode.integer)
{
int i;
prvm_edict_t *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;
+
// 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;
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);
// 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);
+ dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
// run physics (move objects, calculate new velocities)
if (physics_ode_worldquickstep.integer)
{
- dWorldSetQuickStepNumIterations(world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200));
- dWorldQuickStep(world->physics.ode_world, world->physics.ode_step);
+ dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200));
+ dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step);
}
else if (physics_ode_worldstepfast.integer)
- dWorldStepFast1(world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstepfast_iterations.integer, 200));
+ dWorldStepFast1((dWorldID)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);
+ dWorldStep((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);
}
// copy physics properties from physics engine to entities
projects / xonotic / darkplaces.git / blobdiff