X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=world.c;h=3a6503d702b0015110ab5877d42bdef1ba3b1cc9;hp=6cc992fe580f0be38d808a8e18479b8ebd87efe5;hb=4392c3a8e0dc8ad2b18e7c57545dda80d84738e0;hpb=45e00ad85bfa8678f192f530a1ed64286336417e diff --git a/world.c b/world.c index 6cc992fe..3a6503d7 100644 --- a/world.c +++ b/world.c @@ -20,6 +20,8 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // world.c -- world query functions #include "quakedef.h" +#include "clvm_cmds.h" +#include "cl_collision.h" /* @@ -29,35 +31,47 @@ line of sight checks trace->inopen and trace->inwater, but bullets don't */ -cvar_t sv_debugmove = {CVAR_NOTIFY, "sv_debugmove", "0"}; -cvar_t sv_areagrid_mingridsize = {CVAR_NOTIFY, "sv_areagrid_mingridsize", "64"}; +static void World_Physics_Init(void); +void World_Init(void) +{ + Collision_Init(); + World_Physics_Init(); +} -void SV_AreaStats_f(void); +static void World_Physics_Shutdown(void); +void World_Shutdown(void) +{ + World_Physics_Shutdown(); +} -void SV_World_Init(void) +static void World_Physics_Start(world_t *world); +void World_Start(world_t *world) { - Cvar_RegisterVariable(&sv_debugmove); - Cvar_RegisterVariable(&sv_areagrid_mingridsize); - Cmd_AddCommand("sv_areastats", SV_AreaStats_f); - Collision_Init(); + World_Physics_Start(world); +} + +static void World_Physics_End(world_t *world); +void World_End(world_t *world) +{ + World_Physics_End(world); } //============================================================================ -// ClearLink is used for new headnodes -static void ClearLink (link_t *l) +/// World_ClearLink is used for new headnodes +void World_ClearLink (link_t *l) { l->entitynumber = 0; l->prev = l->next = l; } -static void RemoveLink (link_t *l) +void World_RemoveLink (link_t *l) { l->next->prev = l->prev; l->prev->next = l->next; } -static void InsertLinkBefore (link_t *l, link_t *before, int entitynumber) +void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber) { l->entitynumber = entitynumber; l->next = before; @@ -66,7 +80,6 @@ static void InsertLinkBefore (link_t *l, link_t *before, int entitynumber) l->next->prev = l; } - /* =============================================================================== @@ -75,106 +88,109 @@ ENTITY AREA CHECKING =============================================================================== */ -int sv_areagrid_stats_calls = 0; -int sv_areagrid_stats_nodechecks = 0; -int sv_areagrid_stats_entitychecks = 0; - -void SV_AreaStats_f(void) +void World_PrintAreaStats(world_t *world, const char *worldname) { - Con_Printf("areagrid check stats: %d calls %d nodes (%f per call) %d entities (%f per call)\n", sv_areagrid_stats_calls, sv_areagrid_stats_nodechecks, (double) sv_areagrid_stats_nodechecks / (double) sv_areagrid_stats_calls, sv_areagrid_stats_entitychecks, (double) sv_areagrid_stats_entitychecks / (double) sv_areagrid_stats_calls); - sv_areagrid_stats_calls = 0; - sv_areagrid_stats_nodechecks = 0; - sv_areagrid_stats_entitychecks = 0; + Con_Printf("%s areagrid check stats: %d calls %d nodes (%f per call) %d entities (%f per call)\n", worldname, world->areagrid_stats_calls, world->areagrid_stats_nodechecks, (double) world->areagrid_stats_nodechecks / (double) world->areagrid_stats_calls, world->areagrid_stats_entitychecks, (double) world->areagrid_stats_entitychecks / (double) world->areagrid_stats_calls); + world->areagrid_stats_calls = 0; + world->areagrid_stats_nodechecks = 0; + world->areagrid_stats_entitychecks = 0; } -typedef struct areagrid_s -{ - link_t edicts; -} -areagrid_t; - -#define AREA_GRID 512 -#define AREA_GRIDNODES (AREA_GRID * AREA_GRID) - -static areagrid_t sv_areagrid[AREA_GRIDNODES], sv_areagrid_outside; -static vec3_t sv_areagrid_bias, sv_areagrid_scale, sv_areagrid_mins, sv_areagrid_maxs, sv_areagrid_size; -static int sv_areagrid_marknumber = 1; +/* +=============== +World_SetSize -void SV_CreateAreaGrid (vec3_t mins, vec3_t maxs) +=============== +*/ +void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs) { int i; - ClearLink (&sv_areagrid_outside.edicts); + + strlcpy(world->filename, filename, sizeof(world->filename)); + VectorCopy(mins, world->mins); + VectorCopy(maxs, world->maxs); + + // 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 - sv_areagrid_size[0] = max(maxs[0] - mins[0], AREA_GRID * sv_areagrid_mingridsize.value); - sv_areagrid_size[1] = max(maxs[1] - mins[1], AREA_GRID * sv_areagrid_mingridsize.value); - sv_areagrid_size[2] = max(maxs[2] - 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 - sv_areagrid_mins[0] = (mins[0] + maxs[0] - sv_areagrid_size[0]) * 0.5f; - sv_areagrid_mins[1] = (mins[1] + maxs[1] - sv_areagrid_size[1]) * 0.5f; - sv_areagrid_mins[2] = (mins[2] + maxs[2] - sv_areagrid_size[2]) * 0.5f; - sv_areagrid_maxs[0] = (mins[0] + maxs[0] + sv_areagrid_size[0]) * 0.5f; - sv_areagrid_maxs[1] = (mins[1] + maxs[1] + sv_areagrid_size[1]) * 0.5f; - sv_areagrid_maxs[2] = (mins[2] + maxs[2] + sv_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(sv_areagrid_mins, sv_areagrid_bias); - sv_areagrid_scale[0] = AREA_GRID / sv_areagrid_size[0]; - sv_areagrid_scale[1] = AREA_GRID / sv_areagrid_size[1]; - sv_areagrid_scale[2] = AREA_GRID / sv_areagrid_size[2]; + VectorNegate(world->areagrid_mins, world->areagrid_bias); + world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0]; + world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1]; + world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2]; + World_ClearLink(&world->areagrid_outside); for (i = 0;i < AREA_GRIDNODES;i++) - { - ClearLink (&sv_areagrid[i].edicts); - } - Con_DPrintf("sv_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, sv_areagrid_mins[0], sv_areagrid_mins[1], sv_areagrid_mins[2], sv_areagrid_maxs[0], sv_areagrid_maxs[1], sv_areagrid_maxs[2], sv_areagrid_size[0], sv_areagrid_size[1], sv_areagrid_size[2], 1.0f / sv_areagrid_scale[0], 1.0f / sv_areagrid_scale[1], 1.0f / sv_areagrid_scale[2], sv_areagrid_mingridsize.value); + World_ClearLink(&world->areagrid[i]); + 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); } /* =============== -SV_ClearWorld +World_UnlinkAll =============== */ -void SV_ClearWorld (void) +void World_UnlinkAll(world_t *world) { - Mod_CheckLoaded(sv.worldmodel); - SV_CreateAreaGrid(sv.worldmodel->normalmins, sv.worldmodel->normalmaxs); + int i; + link_t *grid; + // unlink all entities one by one + grid = &world->areagrid_outside; + while (grid->next != grid) + World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber)); + for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++) + while (grid->next != grid) + World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber)); } - /* =============== -SV_UnlinkEdict =============== */ -void SV_UnlinkEdict (edict_t *ent) +void World_UnlinkEdict(prvm_edict_t *ent) { int i; for (i = 0;i < ENTITYGRIDAREAS;i++) { - if (ent->e->areagrid[i].prev) + if (ent->priv.server->areagrid[i].prev) { - RemoveLink (&ent->e->areagrid[i]); - ent->e->areagrid[i].prev = ent->e->areagrid[i].next = NULL; + World_RemoveLink (&ent->priv.server->areagrid[i]); + ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL; } } } -int SV_EntitiesInBox(vec3_t mins, vec3_t maxs, int maxlist, edict_t **list) +int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, prvm_edict_t **list) { int numlist; - areagrid_t *grid; + link_t *grid; link_t *l; - edict_t *ent; + prvm_edict_t *ent; int igrid[3], igridmins[3], igridmaxs[3]; - sv_areagrid_stats_calls++; - sv_areagrid_marknumber++; - igridmins[0] = (int) ((mins[0] + sv_areagrid_bias[0]) * sv_areagrid_scale[0]); - igridmins[1] = (int) ((mins[1] + sv_areagrid_bias[1]) * sv_areagrid_scale[1]); - //igridmins[2] = (int) ((mins[2] + sv_areagrid_bias[2]) * sv_areagrid_scale[2]); - igridmaxs[0] = (int) ((maxs[0] + sv_areagrid_bias[0]) * sv_areagrid_scale[0]) + 1; - igridmaxs[1] = (int) ((maxs[1] + sv_areagrid_bias[1]) * sv_areagrid_scale[1]) + 1; - //igridmaxs[2] = (int) ((maxs[2] + sv_areagrid_bias[2]) * sv_areagrid_scale[2]) + 1; + // 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] = max(0, igridmins[0]); igridmins[1] = max(0, igridmins[1]); //igridmins[2] = max(0, igridmins[2]); @@ -185,46 +201,48 @@ int SV_EntitiesInBox(vec3_t mins, vec3_t maxs, int maxlist, edict_t **list) numlist = 0; // add entities not linked into areagrid because they are too big or // outside the grid bounds - if (sv_areagrid_outside.edicts.next != &sv_areagrid_outside.edicts) + if (world->areagrid_outside.next != &world->areagrid_outside) { - for (l = sv_areagrid_outside.edicts.next;l != &sv_areagrid_outside.edicts;l = l->next) + grid = &world->areagrid_outside; + for (l = grid->next;l != grid;l = l->next) { - ent = EDICT_NUM_UNSIGNED(l->entitynumber); - if (ent->e->areagridmarknumber != sv_areagrid_marknumber) + ent = PRVM_EDICT_NUM(l->entitynumber); + if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber) { - ent->e->areagridmarknumber = sv_areagrid_marknumber; - if (!ent->e->free && BoxesOverlap(mins, maxs, ent->v->absmin, ent->v->absmax)) + ent->priv.server->areagridmarknumber = world->areagrid_marknumber; + if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs)) { if (numlist < maxlist) list[numlist] = ent; numlist++; } - sv_areagrid_stats_entitychecks++; + world->areagrid_stats_entitychecks++; } } } // add grid linked entities for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++) { - grid = sv_areagrid + igrid[1] * AREA_GRID + igridmins[0]; + grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0]; for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++) { - if (grid->edicts.next != &grid->edicts) + if (grid->next != grid) { - for (l = grid->edicts.next;l != &grid->edicts;l = l->next) + for (l = grid->next;l != grid;l = l->next) { - ent = EDICT_NUM_UNSIGNED(l->entitynumber); - if (ent->e->areagridmarknumber != sv_areagrid_marknumber) + ent = PRVM_EDICT_NUM(l->entitynumber); + if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber) { - ent->e->areagridmarknumber = sv_areagrid_marknumber; - if (!ent->e->free && BoxesOverlap(mins, maxs, ent->v->absmin, ent->v->absmax)) + ent->priv.server->areagridmarknumber = world->areagrid_marknumber; + if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs)) { if (numlist < maxlist) list[numlist] = ent; numlist++; } + //Con_Printf("%d %f %f %f %f %f %f : %d : %f %f %f %f %f %f\n", BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs), ent->priv.server->areamins[0], ent->priv.server->areamins[1], ent->priv.server->areamins[2], ent->priv.server->areamaxs[0], ent->priv.server->areamaxs[1], ent->priv.server->areamaxs[2], PRVM_NUM_FOR_EDICT(ent), mins[0], mins[1], mins[2], maxs[0], maxs[1], maxs[2]); } - sv_areagrid_stats_entitychecks++; + world->areagrid_stats_entitychecks++; } } } @@ -232,489 +250,2451 @@ int SV_EntitiesInBox(vec3_t mins, vec3_t maxs, int maxlist, edict_t **list) return numlist; } -void SV_TouchAreaGrid(edict_t *ent) +void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent) { - int i, numtouchedicts, old_self, old_other; - edict_t *touch, *touchedicts[MAX_EDICTS]; - - // build a list of edicts to touch, because the link loop can be corrupted - // by SV_IncreaseEdicts called during touch functions - numtouchedicts = SV_EntitiesInBox(ent->v->absmin, ent->v->absmax, MAX_EDICTS, touchedicts); - if (numtouchedicts > MAX_EDICTS) - { - // this never happens - Con_Printf("SV_EntitiesInBox returned %i edicts, max was %i\n", numtouchedicts, MAX_EDICTS); - numtouchedicts = MAX_EDICTS; - } + link_t *grid; + int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent); - old_self = pr_global_struct->self; - old_other = pr_global_struct->other; - for (i = 0;i < numtouchedicts;i++) + if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent) { - touch = touchedicts[i]; - if (touch != ent && (int)touch->v->solid == SOLID_TRIGGER && touch->v->touch) - { - pr_global_struct->self = EDICT_TO_PROG(touch); - pr_global_struct->other = EDICT_TO_PROG(ent); - pr_global_struct->time = sv.time; - PR_ExecuteProgram (touch->v->touch, "QC function self.touch is missing"); - } + Con_Printf ("World_LinkEdict_AreaGrid: invalid edict %p (edicts is %p, edict compared to prog->edicts is %i)\n", (void *)ent, (void *)prog->edicts, entitynumber); + return; } - pr_global_struct->self = old_self; - pr_global_struct->other = old_other; -} - -void SV_LinkEdict_AreaGrid(edict_t *ent) -{ - areagrid_t *grid; - int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = NUM_FOR_EDICT(ent); - if (entitynumber <= 0 || entitynumber >= sv.max_edicts || EDICT_NUM(entitynumber) != ent) - Host_Error("SV_LinkEdict_AreaGrid: invalid edict %p (sv.edicts is %p, edict compared to sv.edicts is %i)\n", ent, sv.edicts, entitynumber); - - igridmins[0] = (int) ((ent->v->absmin[0] + sv_areagrid_bias[0]) * sv_areagrid_scale[0]); - igridmins[1] = (int) ((ent->v->absmin[1] + sv_areagrid_bias[1]) * sv_areagrid_scale[1]); - //igridmins[2] = (int) ((ent->v->absmin[2] + sv_areagrid_bias[2]) * sv_areagrid_scale[2]); - igridmaxs[0] = (int) ((ent->v->absmax[0] + sv_areagrid_bias[0]) * sv_areagrid_scale[0]) + 1; - igridmaxs[1] = (int) ((ent->v->absmax[1] + sv_areagrid_bias[1]) * sv_areagrid_scale[1]) + 1; - //igridmaxs[2] = (int) ((ent->v->absmax[2] + sv_areagrid_bias[2]) * sv_areagrid_scale[2]) + 1; + igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]); + igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]); + //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]); + igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1; + igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1; + //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1; if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS) { // wow, something outside the grid, store it as such - InsertLinkBefore (&ent->e->areagrid[0], &sv_areagrid_outside.edicts, entitynumber); + World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber); return; } gridnum = 0; for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++) { - grid = sv_areagrid + igrid[1] * AREA_GRID + igridmins[0]; + grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0]; for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++) - InsertLinkBefore (&ent->e->areagrid[gridnum], &grid->edicts, entitynumber); + World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber); } } /* =============== -SV_LinkEdict +World_LinkEdict =============== */ -void SV_LinkEdict (edict_t *ent, qboolean touch_triggers) +void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs) { - model_t *model; - - if (ent->e->areagrid[0].prev) - SV_UnlinkEdict (ent); // unlink from old position + // unlink from old position first + if (ent->priv.server->areagrid[0].prev) + World_UnlinkEdict(ent); - if (ent == sv.edicts) - return; // don't add the world + // don't add the world + if (ent == prog->edicts) + return; - if (ent->e->free) + // don't add free entities + if (ent->priv.server->free) return; -// set the abs box + VectorCopy(mins, ent->priv.server->areamins); + VectorCopy(maxs, ent->priv.server->areamaxs); + World_LinkEdict_AreaGrid(world, ent); +} + + + + +//============================================================================ +// physics engine support +//============================================================================ + +#ifndef ODE_STATIC +# define ODE_DYNAMIC 1 +#endif + +#if defined(ODE_STATIC) || defined(ODE_DYNAMIC) +#define USEODE 1 +#endif + +// recent ODE trunk has dWorldStepFast1 removed +//#define ODE_USE_STEPFAST + +#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","1", "allows objects to overlap this many units to reduce jitter"}; +cvar_t physics_ode_worldstep = {0, "physics_ode_worldstep","2", "step function to use, 0 - dWorldStep, 1 - dWorldStepFast1, 2 - dWorldQuickStep"}; +cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep and dWorldStepFast1"}; +cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"}; +cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"}; +cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"}; +cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"}; +cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"}; +cvar_t physics_ode_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", "0.005", "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", "0.01", "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", "0.005", "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", "0.01", "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", "1", "use constant step (sys_ticrate value) instead of variable step which tends to increase stability"}; +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", "0.2", "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", "0.3", "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 +#include "ode/ode.h" +#else +#ifdef WINAPI +// ODE does not use WINAPI +#define ODE_API +#else +#define ODE_API +#endif + +// note: dynamic builds of ODE tend to be double precision, this is not used +// for static builds +typedef double dReal; + +typedef dReal dVector3[4]; +typedef dReal dVector4[4]; +typedef dReal dMatrix3[4*3]; +typedef dReal dMatrix4[4*4]; +typedef dReal dMatrix6[8*6]; +typedef dReal dQuaternion[4]; + +struct dxWorld; /* dynamics world */ +struct dxSpace; /* collision space */ +struct dxBody; /* rigid body (dynamics object) */ +struct dxGeom; /* geometry (collision object) */ +struct dxJoint; +struct dxJointNode; +struct dxJointGroup; +struct dxTriMeshData; + +#define dInfinity 3.402823466e+38f + +typedef struct dxWorld *dWorldID; +typedef struct dxSpace *dSpaceID; +typedef struct dxBody *dBodyID; +typedef struct dxGeom *dGeomID; +typedef struct dxJoint *dJointID; +typedef struct dxJointGroup *dJointGroupID; +typedef struct dxTriMeshData *dTriMeshDataID; + +typedef struct dJointFeedback +{ + dVector3 f1; /* force applied to body 1 */ + dVector3 t1; /* torque applied to body 1 */ + dVector3 f2; /* force applied to body 2 */ + dVector3 t2; /* torque applied to body 2 */ +} +dJointFeedback; + +typedef enum dJointType +{ + dJointTypeNone = 0, + dJointTypeBall, + dJointTypeHinge, + dJointTypeSlider, + dJointTypeContact, + dJointTypeUniversal, + dJointTypeHinge2, + dJointTypeFixed, + dJointTypeNull, + dJointTypeAMotor, + dJointTypeLMotor, + dJointTypePlane2D, + dJointTypePR, + dJointTypePU, + dJointTypePiston +} +dJointType; + +#define D_ALL_PARAM_NAMES(start) \ + /* parameters for limits and motors */ \ + dParamLoStop = start, \ + dParamHiStop, \ + dParamVel, \ + dParamFMax, \ + dParamFudgeFactor, \ + dParamBounce, \ + dParamCFM, \ + dParamStopERP, \ + dParamStopCFM, \ + /* parameters for suspension */ \ + dParamSuspensionERP, \ + dParamSuspensionCFM, \ + dParamERP, \ + +#define D_ALL_PARAM_NAMES_X(start,x) \ + /* parameters for limits and motors */ \ + dParamLoStop ## x = start, \ + dParamHiStop ## x, \ + dParamVel ## x, \ + dParamFMax ## x, \ + dParamFudgeFactor ## x, \ + dParamBounce ## x, \ + dParamCFM ## x, \ + dParamStopERP ## x, \ + dParamStopCFM ## x, \ + /* parameters for suspension */ \ + dParamSuspensionERP ## x, \ + dParamSuspensionCFM ## x, \ + dParamERP ## x, + +enum { + D_ALL_PARAM_NAMES(0) + D_ALL_PARAM_NAMES_X(0x100,2) + D_ALL_PARAM_NAMES_X(0x200,3) + + /* add a multiple of this constant to the basic parameter numbers to get + * the parameters for the second, third etc axes. + */ + dParamGroup=0x100 +}; + +typedef struct dMass +{ + dReal mass; + dVector3 c; + dMatrix3 I; +} +dMass; + +enum +{ + dContactMu2 = 0x001, + dContactFDir1 = 0x002, + dContactBounce = 0x004, + dContactSoftERP = 0x008, + dContactSoftCFM = 0x010, + dContactMotion1 = 0x020, + dContactMotion2 = 0x040, + dContactMotionN = 0x080, + dContactSlip1 = 0x100, + dContactSlip2 = 0x200, + + dContactApprox0 = 0x0000, + dContactApprox1_1 = 0x1000, + dContactApprox1_2 = 0x2000, + dContactApprox1 = 0x3000 +}; + +typedef struct dSurfaceParameters +{ + /* must always be defined */ + int mode; + dReal mu; + + /* only defined if the corresponding flag is set in mode */ + dReal mu2; + dReal bounce; + dReal bounce_vel; + dReal soft_erp; + dReal soft_cfm; + dReal motion1,motion2,motionN; + dReal slip1,slip2; +} dSurfaceParameters; + +typedef struct dContactGeom +{ + dVector3 pos; ///< contact position + dVector3 normal; ///< normal vector + dReal depth; ///< penetration depth + dGeomID g1,g2; ///< the colliding geoms + int side1,side2; ///< (to be documented) +} +dContactGeom; + +typedef struct dContact +{ + dSurfaceParameters surface; + dContactGeom geom; + dVector3 fdir1; +} +dContact; + +typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); + +// SAP +// Order XZY or ZXY usually works best, if your Y is up. +#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) +#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) +#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) +#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) +#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) +#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) + +//const char* (ODE_API *dGetConfiguration)(void); +int (ODE_API *dCheckConfiguration)( const char* token ); +int (ODE_API *dInitODE)(void); +//int (ODE_API *dInitODE2)(unsigned int uiInitFlags); +//int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags); +//void (ODE_API *dCleanupODEAllDataForThread)(void); +void (ODE_API *dCloseODE)(void); + +//int (ODE_API *dMassCheck)(const dMass *m); +//void (ODE_API *dMassSetZero)(dMass *); +//void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23); +//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius); +void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius); +//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length); +void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); +//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length); +//void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); +//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz); +void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz); +//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g); +//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g); +//void (ODE_API *dMassAdjust)(dMass *, dReal newmass); +//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z); +//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R); +//void (ODE_API *dMassAdd)(dMass *a, const dMass *b); +// +dWorldID (ODE_API *dWorldCreate)(void); +void (ODE_API *dWorldDestroy)(dWorldID world); +void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z); +void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity); +void (ODE_API *dWorldSetERP)(dWorldID, dReal erp); +//dReal (ODE_API *dWorldGetERP)(dWorldID); +void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm); +//dReal (ODE_API *dWorldGetCFM)(dWorldID); +void (ODE_API *dWorldStep)(dWorldID, dReal stepsize); +//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force); +void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize); +void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num); +//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID); +//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation); +//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID); +//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel); +//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID); +void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth); +//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID); +#ifdef ODE_USE_STEPFAST +void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); +#endif +//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth); +//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID); +//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID); +void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold); +//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID); +void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold); +//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold); +//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold); +//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID); +void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count ); +//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID); +void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps); +//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID); +void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time); +//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID); +void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable); +//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w); +void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold); +//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w); +void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold); +//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w); +void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale); +//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w); +void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale); +//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale); +//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w); +//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed); +//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID); +//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold); +//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID); +//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold); +//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID); +//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count); +//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID); +//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps); +//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID); +//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time); +//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID); +//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable); +//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID); +//dWorldID (ODE_API *dBodyGetWorld)(dBodyID); +dBodyID (ODE_API *dBodyCreate)(dWorldID); +void (ODE_API *dBodyDestroy)(dBodyID); +void (ODE_API *dBodySetData)(dBodyID, void *data); +void * (ODE_API *dBodyGetData)(dBodyID); +void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z); +void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R); +//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q); +void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z); +void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z); +const dReal * (ODE_API *dBodyGetPosition)(dBodyID); +//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos); +const dReal * (ODE_API *dBodyGetRotation)(dBodyID); +//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R); +//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID); +//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat); +const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID); +const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID); +void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass); +//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass); +//void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz); +void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//const dReal * (ODE_API *dBodyGetForce)(dBodyID); +//const dReal * (ODE_API *dBodyGetTorque)(dBodyID); +//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z); +//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z); +//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode); +//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z); +//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID); +//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result); +int (ODE_API *dBodyGetNumJoints)(dBodyID b); +dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index); +//void (ODE_API *dBodySetDynamic)(dBodyID); +//void (ODE_API *dBodySetKinematic)(dBodyID); +//int (ODE_API *dBodyIsKinematic)(dBodyID); +void (ODE_API *dBodyEnable)(dBodyID); +void (ODE_API *dBodyDisable)(dBodyID); +int (ODE_API *dBodyIsEnabled)(dBodyID); +void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode); +int (ODE_API *dBodyGetGravityMode)(dBodyID b); +//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID)); +//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b); +//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g); +//void (ODE_API *dBodySetDampingDefaults)(dBodyID b); +//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b); +//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale); +//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b); +//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale); +//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale); +//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b); +//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold); +//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b); +//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold); +//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b); +//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed); +//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b); +//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled); +dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID); +dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID); +dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID); +dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *); +dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID); +dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID); +dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID); +void (ODE_API *dJointDestroy)(dJointID); +dJointGroupID (ODE_API *dJointGroupCreate)(int max_size); +void (ODE_API *dJointGroupDestroy)(dJointGroupID); +void (ODE_API *dJointGroupEmpty)(dJointGroupID); +//int (ODE_API *dJointGetNumBodies)(dJointID); +void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2); +//void (ODE_API *dJointEnable)(dJointID); +//void (ODE_API *dJointDisable)(dJointID); +//int (ODE_API *dJointIsEnabled)(dJointID); +void (ODE_API *dJointSetData)(dJointID, void *data); +void * (ODE_API *dJointGetData)(dJointID); +//dJointType (ODE_API *dJointGetType)(dJointID); +dBodyID (ODE_API *dJointGetBody)(dJointID, int index); +//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *); +//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID); +void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z); +void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value); +void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); +void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle); +void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque); +void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); +void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force); +void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z); +void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z); +void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z); +void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2); +void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z); +void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); +void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); +void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2); +//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque); +//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); +//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque); +//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); +//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force); +//void (ODE_API *dJointSetFixed)(dJointID); +//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num); +//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle); +//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode); +//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3); +//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num); +//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter); +//void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter); +//dReal (ODE_API *dJointGetHingeAngle)(dJointID); +//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID); +//dReal (ODE_API *dJointGetSliderPosition)(dJointID); +//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID); +//void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter); +//void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter); +//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID); +//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID); +//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID); +//void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter); +//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2); +//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID); +//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID); +//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID); +//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID); +//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPRPosition)(dJointID); +//dReal (ODE_API *dJointGetPRPositionRate)(dJointID); +//dReal (ODE_API *dJointGetPRAngle)(dJointID); +//dReal (ODE_API *dJointGetPRAngleRate)(dJointID); +//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter); +//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPUPosition)(dJointID); +//dReal (ODE_API *dJointGetPUPositionRate)(dJointID); +//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result); +//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2); +//dReal (ODE_API *dJointGetPUAngle1)(dJointID); +//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID); +//dReal (ODE_API *dJointGetPUAngle2)(dJointID); +//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID); +//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter); +//dReal (ODE_API *dJointGetPistonPosition)(dJointID); +//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID); +//dReal (ODE_API *dJointGetPistonAngle)(dJointID); +//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID); +//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter); +//int (ODE_API *dJointGetAMotorNumAxes)(dJointID); +//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result); +//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum); +//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum); +//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum); +//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter); +//int (ODE_API *dJointGetAMotorMode)(dJointID); +//int (ODE_API *dJointGetLMotorNumAxes)(dJointID); +//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result); +//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter); +//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter); +//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID); +//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*); +int (ODE_API *dAreConnected)(dBodyID, dBodyID); +int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type); +// +dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space); +dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space); +dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); +//dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder ); +void (ODE_API *dSpaceDestroy)(dSpaceID); +//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel); +//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel); +//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode); +//int (ODE_API *dSpaceGetCleanup)(dSpaceID space); +//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel); +//int (ODE_API *dSpaceGetSublevel)(dSpaceID space); +//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode); +//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space); +//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID); +//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID); +//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID); +//void (ODE_API *dSpaceClean)(dSpaceID); +//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID); +//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i); +//int (ODE_API *dSpaceGetClass)(dSpaceID space); +// +void (ODE_API *dGeomDestroy)(dGeomID geom); +void (ODE_API *dGeomSetData)(dGeomID geom, void* data); +void * (ODE_API *dGeomGetData)(dGeomID geom); +void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body); +dBodyID (ODE_API *dGeomGetBody)(dGeomID geom); +void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z); +void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R); +//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q); +//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom); +//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos); +//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom); +//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R); +//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result); +//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]); +int (ODE_API *dGeomIsSpace)(dGeomID geom); +//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID); +//int (ODE_API *dGeomGetClass)(dGeomID geom); +//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits); +//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits); +//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID); +//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID); +//void (ODE_API *dGeomEnable)(dGeomID geom); +//void (ODE_API *dGeomDisable)(dGeomID geom); +//int (ODE_API *dGeomIsEnabled)(dGeomID geom); +//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z); +//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R); +//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q); +//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z); +//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R); +//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion); +//void (ODE_API *dGeomClearOffset)(dGeomID geom); +//int (ODE_API *dGeomIsOffset)(dGeomID geom); +//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom); +//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos); +//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom); +//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R); +//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result); +int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip); +// +void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback); +void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); +// +dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius); +//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius); +//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere); +//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z); +// +//dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); +//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); +// +dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz); +//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz); +//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result); +//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); +//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); +// +//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d); +//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d); +//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result); +//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z); +// +dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length); +//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length); +//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length); +//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z); +// +//dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length); +//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length); +//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length); +// +//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length); +//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length); +//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray); +//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); +//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir); +// +dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space); +void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj); +//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g); +void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode); +//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g); +//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode); +//int (ODE_API *dGeomTransformGetInfo)(dGeomID g); + +enum { TRIMESH_FACE_NORMALS }; +typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); +typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); +typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); +typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); + +dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void); +void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g); +//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data); +//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id); +//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans ); +//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g ); +void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); +//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); +//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); +//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); +//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount); +//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals); +//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g); +//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen); +//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf); +//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback); +//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g); +//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback); +//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g); +//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback); +//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g); +//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback); +//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g); +dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); +//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data); +//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g); +//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable); +//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass); +//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g); +//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g); +//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); +//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); +//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g); +//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g); + +static dllfunction_t odefuncs[] = +{ +// {"dGetConfiguration", (void **) &dGetConfiguration}, + {"dCheckConfiguration", (void **) &dCheckConfiguration}, + {"dInitODE", (void **) &dInitODE}, +// {"dInitODE2", (void **) &dInitODE2}, +// {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread}, +// {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread}, + {"dCloseODE", (void **) &dCloseODE}, +// {"dMassCheck", (void **) &dMassCheck}, +// {"dMassSetZero", (void **) &dMassSetZero}, +// {"dMassSetParameters", (void **) &dMassSetParameters}, +// {"dMassSetSphere", (void **) &dMassSetSphere}, + {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal}, +// {"dMassSetCapsule", (void **) &dMassSetCapsule}, + {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal}, +// {"dMassSetCylinder", (void **) &dMassSetCylinder}, +// {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal}, +// {"dMassSetBox", (void **) &dMassSetBox}, + {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal}, +// {"dMassSetTrimesh", (void **) &dMassSetTrimesh}, +// {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal}, +// {"dMassAdjust", (void **) &dMassAdjust}, +// {"dMassTranslate", (void **) &dMassTranslate}, +// {"dMassRotate", (void **) &dMassRotate}, +// {"dMassAdd", (void **) &dMassAdd}, + + {"dWorldCreate", (void **) &dWorldCreate}, + {"dWorldDestroy", (void **) &dWorldDestroy}, + {"dWorldSetGravity", (void **) &dWorldSetGravity}, + {"dWorldGetGravity", (void **) &dWorldGetGravity}, + {"dWorldSetERP", (void **) &dWorldSetERP}, +// {"dWorldGetERP", (void **) &dWorldGetERP}, + {"dWorldSetCFM", (void **) &dWorldSetCFM}, +// {"dWorldGetCFM", (void **) &dWorldGetCFM}, + {"dWorldStep", (void **) &dWorldStep}, +// {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce}, + {"dWorldQuickStep", (void **) &dWorldQuickStep}, + {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations}, +// {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations}, +// {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW}, +// {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW}, +// {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel}, +// {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel}, + {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer}, +// {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer}, +#ifdef ODE_USE_STEPFAST + {"dWorldStepFast1", (void **) &dWorldStepFast1}, +#endif +// {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1}, +// {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1}, +// {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold}, + {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold}, +// {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold}, + {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold}, +// {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold}, +// {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold}, +// {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold}, +// {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold}, +// {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount}, + {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount}, +// {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps}, + {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps}, +// {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime}, + {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime}, +// {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag}, + {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag}, +// {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold}, + {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold}, +// {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold}, + {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold}, +// {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping}, + {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping}, +// {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping}, + {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping}, +// {"dWorldSetDamping", (void **) &dWorldSetDamping}, +// {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed}, +// {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed}, +// {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold}, +// {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold}, +// {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold}, +// {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold}, +// {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount}, +// {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount}, +// {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps}, +// {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps}, +// {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime}, +// {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime}, +// {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag}, +// {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag}, +// {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults}, +// {"dBodyGetWorld", (void **) &dBodyGetWorld}, + {"dBodyCreate", (void **) &dBodyCreate}, + {"dBodyDestroy", (void **) &dBodyDestroy}, + {"dBodySetData", (void **) &dBodySetData}, + {"dBodyGetData", (void **) &dBodyGetData}, + {"dBodySetPosition", (void **) &dBodySetPosition}, + {"dBodySetRotation", (void **) &dBodySetRotation}, +// {"dBodySetQuaternion", (void **) &dBodySetQuaternion}, + {"dBodySetLinearVel", (void **) &dBodySetLinearVel}, + {"dBodySetAngularVel", (void **) &dBodySetAngularVel}, + {"dBodyGetPosition", (void **) &dBodyGetPosition}, +// {"dBodyCopyPosition", (void **) &dBodyCopyPosition}, + {"dBodyGetRotation", (void **) &dBodyGetRotation}, +// {"dBodyCopyRotation", (void **) &dBodyCopyRotation}, +// {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion}, +// {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion}, + {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel}, + {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel}, + {"dBodySetMass", (void **) &dBodySetMass}, +// {"dBodyGetMass", (void **) &dBodyGetMass}, +// {"dBodyAddForce", (void **) &dBodyAddForce}, +// {"dBodyAddTorque", (void **) &dBodyAddTorque}, +// {"dBodyAddRelForce", (void **) &dBodyAddRelForce}, + {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque}, +// {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos}, + {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos}, +// {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos}, +// {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos}, +// {"dBodyGetForce", (void **) &dBodyGetForce}, +// {"dBodyGetTorque", (void **) &dBodyGetTorque}, +// {"dBodySetForce", (void **) &dBodySetForce}, +// {"dBodySetTorque", (void **) &dBodySetTorque}, +// {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos}, +// {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel}, +// {"dBodyGetPointVel", (void **) &dBodyGetPointVel}, +// {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint}, +// {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld}, +// {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld}, +// {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode}, +// {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis}, +// {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode}, +// {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis}, + {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints}, + {"dBodyGetJoint", (void **) &dBodyGetJoint}, +// {"dBodySetDynamic", (void **) &dBodySetDynamic}, +// {"dBodySetKinematic", (void **) &dBodySetKinematic}, +// {"dBodyIsKinematic", (void **) &dBodyIsKinematic}, + {"dBodyEnable", (void **) &dBodyEnable}, + {"dBodyDisable", (void **) &dBodyDisable}, + {"dBodyIsEnabled", (void **) &dBodyIsEnabled}, + {"dBodySetGravityMode", (void **) &dBodySetGravityMode}, + {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode}, +// {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback}, +// {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom}, +// {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom}, +// {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults}, +// {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping}, +// {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping}, +// {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping}, +// {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping}, +// {"dBodySetDamping", (void **) &dBodySetDamping}, +// {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold}, +// {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold}, +// {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold}, +// {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold}, +// {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed}, +// {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed}, +// {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode}, +// {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode}, + {"dJointCreateBall", (void **) &dJointCreateBall}, + {"dJointCreateHinge", (void **) &dJointCreateHinge}, + {"dJointCreateSlider", (void **) &dJointCreateSlider}, + {"dJointCreateContact", (void **) &dJointCreateContact}, + {"dJointCreateHinge2", (void **) &dJointCreateHinge2}, + {"dJointCreateUniversal", (void **) &dJointCreateUniversal}, +// {"dJointCreatePR", (void **) &dJointCreatePR}, +// {"dJointCreatePU", (void **) &dJointCreatePU}, +// {"dJointCreatePiston", (void **) &dJointCreatePiston}, + {"dJointCreateFixed", (void **) &dJointCreateFixed}, +// {"dJointCreateNull", (void **) &dJointCreateNull}, +// {"dJointCreateAMotor", (void **) &dJointCreateAMotor}, +// {"dJointCreateLMotor", (void **) &dJointCreateLMotor}, +// {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D}, + {"dJointDestroy", (void **) &dJointDestroy}, + {"dJointGroupCreate", (void **) &dJointGroupCreate}, + {"dJointGroupDestroy", (void **) &dJointGroupDestroy}, + {"dJointGroupEmpty", (void **) &dJointGroupEmpty}, +// {"dJointGetNumBodies", (void **) &dJointGetNumBodies}, + {"dJointAttach", (void **) &dJointAttach}, +// {"dJointEnable", (void **) &dJointEnable}, +// {"dJointDisable", (void **) &dJointDisable}, +// {"dJointIsEnabled", (void **) &dJointIsEnabled}, + {"dJointSetData", (void **) &dJointSetData}, + {"dJointGetData", (void **) &dJointGetData}, +// {"dJointGetType", (void **) &dJointGetType}, + {"dJointGetBody", (void **) &dJointGetBody}, +// {"dJointSetFeedback", (void **) &dJointSetFeedback}, +// {"dJointGetFeedback", (void **) &dJointGetFeedback}, + {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor}, +// {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2}, + {"dJointSetBallParam", (void **) &dJointSetBallParam}, + {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor}, +// {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta}, + {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis}, +// {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset}, + {"dJointSetHingeParam", (void **) &dJointSetHingeParam}, +// {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque}, + {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis}, +// {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta}, + {"dJointSetSliderParam", (void **) &dJointSetSliderParam}, +// {"dJointAddSliderForce", (void **) &dJointAddSliderForce}, + {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor}, + {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1}, + {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2}, + {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param}, +// {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques}, + {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor}, + {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1}, +// {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset}, + {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2}, +// {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset}, + {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam}, +// {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques}, +// {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor}, +// {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1}, +// {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2}, +// {"dJointSetPRParam", (void **) &dJointSetPRParam}, +// {"dJointAddPRTorque", (void **) &dJointAddPRTorque}, +// {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor}, +// {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset}, +// {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1}, +// {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2}, +// {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3}, +// {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP}, +// {"dJointSetPUParam", (void **) &dJointSetPUParam}, +// {"dJointAddPUTorque", (void **) &dJointAddPUTorque}, +// {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor}, +// {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset}, +// {"dJointSetPistonParam", (void **) &dJointSetPistonParam}, +// {"dJointAddPistonForce", (void **) &dJointAddPistonForce}, +// {"dJointSetFixed", (void **) &dJointSetFixed}, +// {"dJointSetFixedParam", (void **) &dJointSetFixedParam}, +// {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes}, +// {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis}, +// {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle}, +// {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam}, +// {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode}, +// {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques}, +// {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes}, +// {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis}, +// {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam}, +// {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam}, +// {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam}, +// {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam}, +// {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor}, +// {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2}, +// {"dJointGetBallParam", (void **) &dJointGetBallParam}, +// {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor}, +// {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2}, +// {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis}, +// {"dJointGetHingeParam", (void **) &dJointGetHingeParam}, +// {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle}, +// {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate}, +// {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition}, +// {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate}, +// {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis}, +// {"dJointGetSliderParam", (void **) &dJointGetSliderParam}, +// {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor}, +// {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2}, +// {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1}, +// {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2}, +// {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param}, +// {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1}, +// {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate}, +// {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate}, +// {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor}, +// {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2}, +// {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1}, +// {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2}, +// {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam}, +// {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles}, +// {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1}, +// {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2}, +// {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate}, +// {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate}, +// {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor}, +// {"dJointGetPRPosition", (void **) &dJointGetPRPosition}, +// {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate}, +// {"dJointGetPRAngle", (void **) &dJointGetPRAngle}, +// {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate}, +// {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1}, +// {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2}, +// {"dJointGetPRParam", (void **) &dJointGetPRParam}, +// {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor}, +// {"dJointGetPUPosition", (void **) &dJointGetPUPosition}, +// {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate}, +// {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1}, +// {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2}, +// {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3}, +// {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP}, +// {"dJointGetPUAngles", (void **) &dJointGetPUAngles}, +// {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1}, +// {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate}, +// {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2}, +// {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate}, +// {"dJointGetPUParam", (void **) &dJointGetPUParam}, +// {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition}, +// {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate}, +// {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle}, +// {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate}, +// {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor}, +// {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2}, +// {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis}, +// {"dJointGetPistonParam", (void **) &dJointGetPistonParam}, +// {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes}, +// {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis}, +// {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel}, +// {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle}, +// {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate}, +// {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam}, +// {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode}, +// {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes}, +// {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis}, +// {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam}, +// {"dJointGetFixedParam", (void **) &dJointGetFixedParam}, +// {"dConnectingJoint", (void **) &dConnectingJoint}, +// {"dConnectingJointList", (void **) &dConnectingJointList}, + {"dAreConnected", (void **) &dAreConnected}, + {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding}, + {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate}, + {"dHashSpaceCreate", (void **) &dHashSpaceCreate}, + {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate}, +// {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate}, + {"dSpaceDestroy", (void **) &dSpaceDestroy}, +// {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels}, +// {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels}, +// {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup}, +// {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup}, +// {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel}, +// {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel}, +// {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup}, +// {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup}, +// {"dSpaceAdd", (void **) &dSpaceAdd}, +// {"dSpaceRemove", (void **) &dSpaceRemove}, +// {"dSpaceQuery", (void **) &dSpaceQuery}, +// {"dSpaceClean", (void **) &dSpaceClean}, +// {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms}, +// {"dSpaceGetGeom", (void **) &dSpaceGetGeom}, +// {"dSpaceGetClass", (void **) &dSpaceGetClass}, + {"dGeomDestroy", (void **) &dGeomDestroy}, + {"dGeomSetData", (void **) &dGeomSetData}, + {"dGeomGetData", (void **) &dGeomGetData}, + {"dGeomSetBody", (void **) &dGeomSetBody}, + {"dGeomGetBody", (void **) &dGeomGetBody}, + {"dGeomSetPosition", (void **) &dGeomSetPosition}, + {"dGeomSetRotation", (void **) &dGeomSetRotation}, +// {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion}, +// {"dGeomGetPosition", (void **) &dGeomGetPosition}, +// {"dGeomCopyPosition", (void **) &dGeomCopyPosition}, +// {"dGeomGetRotation", (void **) &dGeomGetRotation}, +// {"dGeomCopyRotation", (void **) &dGeomCopyRotation}, +// {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion}, +// {"dGeomGetAABB", (void **) &dGeomGetAABB}, + {"dGeomIsSpace", (void **) &dGeomIsSpace}, +// {"dGeomGetSpace", (void **) &dGeomGetSpace}, +// {"dGeomGetClass", (void **) &dGeomGetClass}, +// {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits}, +// {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits}, +// {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits}, +// {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits}, +// {"dGeomEnable", (void **) &dGeomEnable}, +// {"dGeomDisable", (void **) &dGeomDisable}, +// {"dGeomIsEnabled", (void **) &dGeomIsEnabled}, +// {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition}, +// {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation}, +// {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion}, +// {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition}, +// {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation}, +// {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion}, +// {"dGeomClearOffset", (void **) &dGeomClearOffset}, +// {"dGeomIsOffset", (void **) &dGeomIsOffset}, +// {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition}, +// {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition}, +// {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation}, +// {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation}, +// {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion}, + {"dCollide", (void **) &dCollide}, + {"dSpaceCollide", (void **) &dSpaceCollide}, + {"dSpaceCollide2", (void **) &dSpaceCollide2}, + {"dCreateSphere", (void **) &dCreateSphere}, +// {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius}, +// {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius}, +// {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth}, +// {"dCreateConvex", (void **) &dCreateConvex}, +// {"dGeomSetConvex", (void **) &dGeomSetConvex}, + {"dCreateBox", (void **) &dCreateBox}, +// {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths}, +// {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths}, +// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth}, +// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth}, +// {"dCreatePlane", (void **) &dCreatePlane}, +// {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams}, +// {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams}, +// {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth}, + {"dCreateCapsule", (void **) &dCreateCapsule}, +// {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams}, +// {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams}, +// {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth}, +// {"dCreateCylinder", (void **) &dCreateCylinder}, +// {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams}, +// {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams}, +// {"dCreateRay", (void **) &dCreateRay}, +// {"dGeomRaySetLength", (void **) &dGeomRaySetLength}, +// {"dGeomRayGetLength", (void **) &dGeomRayGetLength}, +// {"dGeomRaySet", (void **) &dGeomRaySet}, +// {"dGeomRayGet", (void **) &dGeomRayGet}, + {"dCreateGeomTransform", (void **) &dCreateGeomTransform}, + {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom}, +// {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom}, + {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup}, +// {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup}, +// {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo}, +// {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo}, + {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate}, + {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy}, +// {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet}, +// {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet}, +// {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform}, +// {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform}, + {"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle}, +// {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1}, +// {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble}, +// {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1}, +// {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple}, +// {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1}, +// {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess}, +// {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer}, +// {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer}, +// {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback}, +// {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback}, +// {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback}, +// {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback}, +// {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback}, +// {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback}, +// {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback}, +// {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback}, + {"dCreateTriMesh", (void **) &dCreateTriMesh}, +// {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData}, +// {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData}, +// {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC}, +// {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled}, +// {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache}, +// {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID}, +// {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle}, +// {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint}, +// {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount}, +// {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate}, + {NULL, NULL} +}; + +// Handle for ODE DLL +dllhandle_t ode_dll = NULL; +#endif +#endif + +static void World_Physics_Init(void) +{ +#ifdef USEODE +#ifdef ODE_DYNAMIC + const char* dllnames [] = + { +# if defined(WIN32) + "libode1.dll", +# elif defined(MACOSX) + "libode.1.dylib", +# else + "libode.so.1", +# endif + NULL + }; +#endif - if (ent->v->solid == SOLID_BSP) + Cvar_RegisterVariable(&physics_ode_quadtree_depth); + Cvar_RegisterVariable(&physics_ode_contactsurfacelayer); + Cvar_RegisterVariable(&physics_ode_worldstep); + 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_world_erp); + Cvar_RegisterVariable(&physics_ode_world_cfm); + Cvar_RegisterVariable(&physics_ode_world_damping); + Cvar_RegisterVariable(&physics_ode_world_damping_linear); + Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold); + Cvar_RegisterVariable(&physics_ode_world_damping_angular); + Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold); + Cvar_RegisterVariable(&physics_ode_world_gravitymod); + Cvar_RegisterVariable(&physics_ode_iterationsperframe); + Cvar_RegisterVariable(&physics_ode_constantstep); + Cvar_RegisterVariable(&physics_ode_movelimit); + Cvar_RegisterVariable(&physics_ode_spinlimit); + Cvar_RegisterVariable(&physics_ode_trick_fixnan); + Cvar_RegisterVariable(&physics_ode_autodisable); + Cvar_RegisterVariable(&physics_ode_autodisable_steps); + Cvar_RegisterVariable(&physics_ode_autodisable_time); + Cvar_RegisterVariable(&physics_ode_autodisable_threshold_linear); + Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular); + Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples); + Cvar_RegisterVariable(&physics_ode_printstats); + Cvar_RegisterVariable(&physics_ode); + +#ifdef ODE_DYNAMIC + // Load the DLL + if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs)) +#endif { - int modelindex = ent->v->modelindex; - if (modelindex < 0 || modelindex > MAX_MODELS) + dInitODE(); +// dInitODE2(0); +#ifdef ODE_DYNAMIC +# ifdef dSINGLE + if (!dCheckConfiguration("ODE_single_precision")) +# else + if (!dCheckConfiguration("ODE_double_precision")) +# endif { - Con_Printf("edict %i: SOLID_BSP with invalid modelindex!\n", NUM_FOR_EDICT(ent)); - modelindex = 0; - } - model = sv.models[modelindex]; - if (model != NULL) - { - Mod_CheckLoaded(model); - if (!model->TraceBox) - Con_Printf("edict %i: SOLID_BSP with non-collidable model\n", NUM_FOR_EDICT(ent)); - - if (ent->v->angles[0] || ent->v->angles[2] || ent->v->avelocity[0] || ent->v->avelocity[2]) - { - VectorAdd(ent->v->origin, model->rotatedmins, ent->v->absmin); - VectorAdd(ent->v->origin, model->rotatedmaxs, ent->v->absmax); - } - else if (ent->v->angles[1] || ent->v->avelocity[1]) - { - VectorAdd(ent->v->origin, model->yawmins, ent->v->absmin); - VectorAdd(ent->v->origin, model->yawmaxs, ent->v->absmax); - } - else - { - VectorAdd(ent->v->origin, model->normalmins, ent->v->absmin); - VectorAdd(ent->v->origin, model->normalmaxs, ent->v->absmax); - } +# ifdef dSINGLE + Con_Printf("ODE library not compiled for single precision - incompatible! Not using ODE physics.\n"); +# else + Con_Printf("ODE library not compiled for double precision - incompatible! Not using ODE physics.\n"); +# endif + Sys_UnloadLibrary(&ode_dll); + ode_dll = NULL; } else { - // SOLID_BSP with no model is valid, mainly because some QC setup code does so temporarily - VectorAdd(ent->v->origin, ent->v->mins, ent->v->absmin); - VectorAdd(ent->v->origin, ent->v->maxs, ent->v->absmax); +# ifdef dSINGLE + Con_Printf("ODE library loaded with single precision.\n"); +# else + Con_Printf("ODE library loaded with double precision.\n"); +# endif } +#endif } - else +#endif +} + +static void World_Physics_Shutdown(void) +{ +#ifdef USEODE +#ifdef ODE_DYNAMIC + if (ode_dll) +#endif { - VectorAdd(ent->v->origin, ent->v->mins, ent->v->absmin); - VectorAdd(ent->v->origin, ent->v->maxs, ent->v->absmax); + dCloseODE(); +#ifdef ODE_DYNAMIC + Sys_UnloadLibrary(&ode_dll); + ode_dll = NULL; +#endif } +#endif +} -// -// to make items easier to pick up and allow them to be grabbed off -// of shelves, the abs sizes are expanded -// - if ((int)ent->v->flags & FL_ITEM) +#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) { - ent->v->absmin[0] -= 15; - ent->v->absmin[1] -= 15; - ent->v->absmin[2] -= 1; - ent->v->absmax[0] += 15; - ent->v->absmax[1] += 15; - ent->v->absmax[2] += 1; + 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 { - // because movement is clipped an epsilon away from an actual edge, - // we must fully check even when bounding boxes don't quite touch - ent->v->absmin[0] -= 1; - ent->v->absmin[1] -= 1; - ent->v->absmin[2] -= 1; - ent->v->absmax[0] += 1; - ent->v->absmax[1] += 1; - ent->v->absmax[2] += 1; + 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); } +} - if (ent->v->solid == SOLID_NOT) +static void World_Physics_EnableODE(world_t *world) +{ + dVector3 center, extents; + if (world->physics.ode) return; - - SV_LinkEdict_AreaGrid(ent); - -// if touch_triggers, touch all entities at this node and descend for more - if (touch_triggers) - SV_TouchAreaGrid(ent); +#ifdef ODE_DYNAMIC + if (!ode_dll) + return; +#endif + world->physics.ode = true; + VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center); + VectorSubtract(world->maxs, center, extents); + world->physics.ode_world = dWorldCreate(); + world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10)); + world->physics.ode_contactgroup = dJointGroupCreate(0); + + World_Physics_UpdateODE(world); } +#endif +static void World_Physics_Start(world_t *world) +{ +#ifdef USEODE + if (world->physics.ode) + return; + World_Physics_EnableODE(world); +#endif +} +static void World_Physics_End(world_t *world) +{ +#ifdef USEODE + if (world->physics.ode) + { + dWorldDestroy((dWorldID)world->physics.ode_world); + dSpaceDestroy((dSpaceID)world->physics.ode_space); + dJointGroupDestroy((dJointGroupID)world->physics.ode_contactgroup); + world->physics.ode = false; + } +#endif +} -/* -=============================================================================== - -POINT TESTING IN HULLS - -=============================================================================== -*/ - -/* -============ -SV_TestEntityPosition +void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed) +{ + ed->priv.server->ode_joint_type = 0; +#ifdef USEODE + if(ed->priv.server->ode_joint) + dJointDestroy((dJointID)ed->priv.server->ode_joint); + ed->priv.server->ode_joint = NULL; +#endif +} -This could be a lot more efficient... -============ -*/ -int SV_TestEntityPosition (edict_t *ent) +void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed) { - return SV_Move (ent->v->origin, ent->v->mins, ent->v->maxs, ent->v->origin, MOVE_NORMAL, ent).startsolid; + edict_odefunc_t *f, *nf; + + // entity is not physics controlled, free any physics data + ed->priv.server->ode_physics = false; +#ifdef USEODE + if (ed->priv.server->ode_geom) + dGeomDestroy((dGeomID)ed->priv.server->ode_geom); + ed->priv.server->ode_geom = NULL; + if (ed->priv.server->ode_body) + { + dJointID j; + dBodyID b1, b2; + prvm_edict_t *ed2; + while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body)) + { + j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0); + ed2 = (prvm_edict_t *) dJointGetData(j); + b1 = dJointGetBody(j, 0); + b2 = dJointGetBody(j, 1); + if(b1 == (dBodyID)ed->priv.server->ode_body) + { + b1 = 0; + ed2->priv.server->ode_joint_enemy = 0; + } + if(b2 == (dBodyID)ed->priv.server->ode_body) + { + b2 = 0; + ed2->priv.server->ode_joint_aiment = 0; + } + dJointAttach(j, b1, b2); + } + dBodyDestroy((dBodyID)ed->priv.server->ode_body); + } + ed->priv.server->ode_body = NULL; +#endif + if (ed->priv.server->ode_vertex3f) + Mem_Free(ed->priv.server->ode_vertex3f); + ed->priv.server->ode_vertex3f = NULL; + ed->priv.server->ode_numvertices = 0; + if (ed->priv.server->ode_element3i) + Mem_Free(ed->priv.server->ode_element3i); + ed->priv.server->ode_element3i = NULL; + ed->priv.server->ode_numtriangles = 0; + if(ed->priv.server->ode_massbuf) + Mem_Free(ed->priv.server->ode_massbuf); + ed->priv.server->ode_massbuf = NULL; + // clear functions stack + for(f = ed->priv.server->ode_func; f; f = nf) + { + nf = f->next; + Mem_Free(f); + } + ed->priv.server->ode_func = NULL; } +void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f) +{ + dBodyID body = (dBodyID)ed->priv.server->ode_body; -/* -=============================================================================== +#ifdef USEODE + switch(f->type) + { + case ODEFUNC_ENABLE: + dBodyEnable(body); + break; + case ODEFUNC_DISABLE: + dBodyDisable(body); + break; + case ODEFUNC_RELFORCEATPOS: + dBodyEnable(body); + dBodyAddForceAtRelPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]); + break; + case ODEFUNC_RELTORQUE: + dBodyEnable(body); + dBodyAddRelTorque(body, f->v1[0], f->v1[1], f->v1[2]); + break; + default: + break; + } +#endif +} -LINE TESTING IN HULLS +#ifdef USEODE +static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed) +{ + const dReal *avel; + const dReal *o; + const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix + const dReal *vel; + dBodyID body = (dBodyID)ed->priv.server->ode_body; + int movetype; + matrix4x4_t bodymatrix; + matrix4x4_t entitymatrix; + vec3_t angles; + vec3_t avelocity; + vec3_t forward, left, up; + vec3_t origin; + vec3_t spinvelocity; + vec3_t velocity; + int jointtype; + if (!body) + return; + movetype = (int)PRVM_gameedictfloat(ed, movetype); + if (movetype != MOVETYPE_PHYSICS) + { + jointtype = (int)PRVM_gameedictfloat(ed, jointtype); + switch(jointtype) + { + // TODO feed back data from physics + case JOINTTYPE_POINT: + break; + case JOINTTYPE_HINGE: + break; + case JOINTTYPE_SLIDER: + break; + case JOINTTYPE_UNIVERSAL: + break; + case JOINTTYPE_HINGE2: + break; + case JOINTTYPE_FIXED: + break; + } + return; + } + // store the physics engine data into the entity + o = dBodyGetPosition(body); + r = dBodyGetRotation(body); + vel = dBodyGetLinearVel(body); + avel = dBodyGetAngularVel(body); + VectorCopy(o, origin); + forward[0] = r[0]; + forward[1] = r[4]; + forward[2] = r[8]; + left[0] = r[1]; + left[1] = r[5]; + left[2] = r[9]; + up[0] = r[2]; + up[1] = r[6]; + up[2] = r[10]; + VectorCopy(vel, velocity); + VectorCopy(avel, spinvelocity); + Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin); + Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix); + Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin); + + AnglesFromVectors(angles, forward, up, false); + VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW])); -=============================================================================== -*/ + { + float pitchsign = 1; + if(!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; + } -/* -================== -SV_ClipMoveToEntity + VectorCopy(origin, PRVM_gameedictvector(ed, origin)); + VectorCopy(velocity, PRVM_gameedictvector(ed, velocity)); + //VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward)); + //VectorCopy(left, PRVM_gameedictvector(ed, axis_left)); + //VectorCopy(up, PRVM_gameedictvector(ed, axis_up)); + //VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity)); + VectorCopy(angles, PRVM_gameedictvector(ed, angles)); + VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity)); + + // values for BodyFromEntity to check if the qc modified anything later + VectorCopy(origin, ed->priv.server->ode_origin); + VectorCopy(velocity, ed->priv.server->ode_velocity); + VectorCopy(angles, ed->priv.server->ode_angles); + VectorCopy(avelocity, ed->priv.server->ode_avelocity); + ed->priv.server->ode_gravity = dBodyGetGravityMode(body) != 0; + + if(!strcmp(prog->name, "server")) // FIXME some better way? + { + SV_LinkEdict(ed); + SV_LinkEdict_TouchAreaGrid(ed); + } +} -Handles selection or creation of a clipping hull, and offseting (and -eventually rotation) of the end points -================== -*/ -trace_t SV_ClipMoveToEntity(edict_t *ent, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int movetype) +static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed) { - trace_t trace; - model_t *model = NULL; - matrix4x4_t matrix, imatrix; - float tempnormal[3], starttransformed[3], endtransformed[3]; - float starttransformedmins[3], starttransformedmaxs[3], endtransformedmins[3], endtransformedmaxs[3]; + dJointID j = 0; + dBodyID b1 = 0; + dBodyID b2 = 0; + int movetype = 0; + int jointtype = 0; + int enemy = 0, aiment = 0; + vec3_t origin, velocity, angles, forward, left, up, movedir; + vec_t CFM, ERP, FMax, Stop, Vel; + VectorClear(origin); + VectorClear(velocity); + VectorClear(angles); + VectorClear(movedir); + movetype = (int)PRVM_gameedictfloat(ed, movetype); + jointtype = (int)PRVM_gameedictfloat(ed, jointtype); + enemy = PRVM_gameedictedict(ed, enemy); + aiment = PRVM_gameedictedict(ed, aiment); + VectorCopy(PRVM_gameedictvector(ed, origin), origin); + VectorCopy(PRVM_gameedictvector(ed, velocity), velocity); + VectorCopy(PRVM_gameedictvector(ed, angles), angles); + VectorCopy(PRVM_gameedictvector(ed, movedir), movedir); + if(movetype == MOVETYPE_PHYSICS) + jointtype = 0; // can't have both + if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0) + enemy = 0; + if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0) + aiment = 0; + // see http://www.ode.org/old_list_archives/2006-January/017614.html + // we want to set ERP? make it fps independent and work like a spring constant + // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K) + if(movedir[0] > 0 && movedir[1] > 0) + { + float K = movedir[0]; + float D = movedir[1]; + float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass) + CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0 + ERP = world->physics.ode_step * K * CFM; + Vel = 0; + FMax = 0; + Stop = movedir[2]; + } + else if(movedir[1] < 0) + { + CFM = 0; + ERP = 0; + Vel = movedir[0]; + FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step? + Stop = movedir[2] > 0 ? movedir[2] : dInfinity; + } + else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0 + { + CFM = 0; + ERP = 0; + Vel = 0; + FMax = 0; + Stop = dInfinity; + } + if(jointtype == ed->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment && VectorCompare(movedir, ed->priv.server->ode_joint_movedir)) + return; // nothing to do + AngleVectorsFLU(angles, forward, left, up); + switch(jointtype) + { + case JOINTTYPE_POINT: + j = dJointCreateBall((dWorldID)world->physics.ode_world, 0); + break; + case JOINTTYPE_HINGE: + j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0); + break; + case JOINTTYPE_SLIDER: + j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0); + break; + case JOINTTYPE_UNIVERSAL: + j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0); + break; + case JOINTTYPE_HINGE2: + j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0); + break; + case JOINTTYPE_FIXED: + j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0); + break; + case 0: + default: + // no joint + j = 0; + break; + } + if(ed->priv.server->ode_joint) + { + //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts)); + dJointAttach((dJointID)ed->priv.server->ode_joint, 0, 0); + dJointDestroy((dJointID)ed->priv.server->ode_joint); + } + ed->priv.server->ode_joint = (void *) j; + ed->priv.server->ode_joint_type = jointtype; + ed->priv.server->ode_joint_enemy = enemy; + ed->priv.server->ode_joint_aiment = aiment; + VectorCopy(origin, ed->priv.server->ode_joint_origin); + VectorCopy(velocity, ed->priv.server->ode_joint_velocity); + VectorCopy(angles, ed->priv.server->ode_joint_angles); + VectorCopy(movedir, ed->priv.server->ode_joint_movedir); + if(j) + { + //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts)); + dJointSetData(j, (void *) ed); + if(enemy) + b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body; + if(aiment) + b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body; + dJointAttach(j, b1, b2); + + switch(jointtype) + { + case JOINTTYPE_POINT: + dJointSetBallAnchor(j, origin[0], origin[1], origin[2]); + break; + case JOINTTYPE_HINGE: + dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]); + dJointSetHingeAxis(j, forward[0], forward[1], forward[2]); + dJointSetHingeParam(j, dParamFMax, FMax); + dJointSetHingeParam(j, dParamHiStop, Stop); + dJointSetHingeParam(j, dParamLoStop, -Stop); + dJointSetHingeParam(j, dParamStopCFM, CFM); + dJointSetHingeParam(j, dParamStopERP, ERP); + dJointSetHingeParam(j, dParamVel, Vel); + break; + case JOINTTYPE_SLIDER: + dJointSetSliderAxis(j, forward[0], forward[1], forward[2]); + dJointSetSliderParam(j, dParamFMax, FMax); + dJointSetSliderParam(j, dParamHiStop, Stop); + dJointSetSliderParam(j, dParamLoStop, -Stop); + dJointSetSliderParam(j, dParamStopCFM, CFM); + dJointSetSliderParam(j, dParamStopERP, ERP); + dJointSetSliderParam(j, dParamVel, Vel); + break; + case JOINTTYPE_UNIVERSAL: + dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]); + dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]); + dJointSetUniversalAxis2(j, up[0], up[1], up[2]); + dJointSetUniversalParam(j, dParamFMax, FMax); + dJointSetUniversalParam(j, dParamHiStop, Stop); + dJointSetUniversalParam(j, dParamLoStop, -Stop); + dJointSetUniversalParam(j, dParamStopCFM, CFM); + dJointSetUniversalParam(j, dParamStopERP, ERP); + dJointSetUniversalParam(j, dParamVel, Vel); + dJointSetUniversalParam(j, dParamFMax2, FMax); + dJointSetUniversalParam(j, dParamHiStop2, Stop); + dJointSetUniversalParam(j, dParamLoStop2, -Stop); + dJointSetUniversalParam(j, dParamStopCFM2, CFM); + dJointSetUniversalParam(j, dParamStopERP2, ERP); + dJointSetUniversalParam(j, dParamVel2, Vel); + break; + case JOINTTYPE_HINGE2: + dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]); + dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]); + dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]); + dJointSetHinge2Param(j, dParamFMax, FMax); + dJointSetHinge2Param(j, dParamHiStop, Stop); + dJointSetHinge2Param(j, dParamLoStop, -Stop); + dJointSetHinge2Param(j, dParamStopCFM, CFM); + dJointSetHinge2Param(j, dParamStopERP, ERP); + dJointSetHinge2Param(j, dParamVel, Vel); + dJointSetHinge2Param(j, dParamFMax2, FMax); + dJointSetHinge2Param(j, dParamHiStop2, Stop); + dJointSetHinge2Param(j, dParamLoStop2, -Stop); + dJointSetHinge2Param(j, dParamStopCFM2, CFM); + dJointSetHinge2Param(j, dParamStopERP2, ERP); + dJointSetHinge2Param(j, dParamVel2, Vel); + break; + case JOINTTYPE_FIXED: + break; + case 0: + default: + Sys_Error("what? but above the joint was valid...\n"); + break; + } +#undef SETPARAMS - memset(&trace, 0, sizeof(trace)); - trace.fraction = trace.realfraction = 1; - VectorCopy(end, trace.endpos); + } +} - if ((int) ent->v->solid == SOLID_BSP || movetype == MOVE_HITMODEL) +static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) +{ + const float *iv; + const int *ie; + dBodyID body = (dBodyID)ed->priv.server->ode_body; + dMass mass; + dReal test; + const dReal *ovelocity, *ospinvelocity; + void *dataID; + dVector3 capsulerot[3]; + dp_model_t *model; + float *ov; + int *oe; + int axisindex; + int modelindex = 0; + int movetype = MOVETYPE_NONE; + int numtriangles; + int numvertices; + int solid = SOLID_NOT; + int triangleindex; + int vertexindex; + mempool_t *mempool; + qboolean modified = false; + vec3_t angles; + vec3_t avelocity; + vec3_t entmaxs; + vec3_t entmins; + vec3_t forward; + vec3_t geomcenter; + vec3_t geomsize; + vec3_t left; + vec3_t origin; + vec3_t spinvelocity; + vec3_t up; + vec3_t velocity; + vec_t f; + vec_t length; + vec_t massval = 1.0f; + vec_t movelimit; + vec_t radius; + vec_t scale = 1.0f; + vec_t spinlimit; + qboolean gravity; + edict_odefunc_t *func, *nextf; + +#ifdef ODE_DYNAMIC + if (!ode_dll) + return; +#endif + VectorClear(entmins); + VectorClear(entmaxs); + solid = (int)PRVM_gameedictfloat(ed, solid); + movetype = (int)PRVM_gameedictfloat(ed, movetype); + scale = PRVM_gameedictfloat(ed, scale);if (!scale) scale = 1.0f; + modelindex = 0; + if (world == &sv.world) + mempool = sv_mempool; + else if (world == &cl.world) + mempool = cls.levelmempool; + else + mempool = NULL; + model = NULL; + switch(solid) { - unsigned int modelindex = ent->v->modelindex; - // if the modelindex is 0, it shouldn't be SOLID_BSP! - if (modelindex == 0) + case SOLID_BSP: + case SOLID_PHYSICS_TRIMESH: + modelindex = (int)PRVM_gameedictfloat(ed, modelindex); + if (world == &sv.world) + model = SV_GetModelByIndex(modelindex); + else if (world == &cl.world) + model = CL_GetModelByIndex(modelindex); + else + model = NULL; + if (model) { - Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP with no model\n", NUM_FOR_EDICT(ent)); - return trace; + VectorScale(model->normalmins, scale, entmins); + VectorScale(model->normalmaxs, scale, entmaxs); + massval = PRVM_gameedictfloat(ed, mass); } - if (modelindex >= MAX_MODELS) + else { - Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP with invalid modelindex\n", NUM_FOR_EDICT(ent)); - return trace; + modelindex = 0; + massval = 1.0f; } - model = sv.models[modelindex]; - if (modelindex != 0 && model == NULL) + break; + case SOLID_BBOX: + //case SOLID_SLIDEBOX: + case SOLID_CORPSE: + case SOLID_PHYSICS_BOX: + case SOLID_PHYSICS_SPHERE: + case SOLID_PHYSICS_CAPSULE: + VectorCopy(PRVM_gameedictvector(ed, mins), entmins); + VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs); + massval = PRVM_gameedictfloat(ed, mass); + break; + default: + if (ed->priv.server->ode_physics) + World_Physics_RemoveFromEntity(world, ed); + return; + } + + VectorSubtract(entmaxs, entmins, geomsize); + if (VectorLength2(geomsize) == 0) + { + // we don't allow point-size physics objects... + if (ed->priv.server->ode_physics) + World_Physics_RemoveFromEntity(world, ed); + return; + } + + if (movetype != MOVETYPE_PHYSICS) + massval = 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) + { + 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 (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0) { - Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP with invalid modelindex\n", NUM_FOR_EDICT(ent)); - return trace; + 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_gameedictstring(ed, classname))); + massval = 1.0f; + VectorSet(geomsize, 1.0f, 1.0f, 1.0f); } - Mod_CheckLoaded(model); - if ((int) ent->v->solid == SOLID_BSP) + switch(solid) { - if (!model->TraceBox) + case SOLID_BSP: + case SOLID_PHYSICS_TRIMESH: + 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_gameedictstring(ed, classname))); + goto treatasbox; + } + // 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) + { + Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname))); + goto treatasbox; + } + // ODE requires persistent mesh storage, so we need to copy out + // the data from the model because renderer restarts could free it + // during the game, additionally we need to flip the triangles... + // note: ODE does preprocessing of the mesh for culling, removing + // concave edges, etc., so this is not a lightweight operation + ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts; + ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3])); + 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]; + } + ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles; + ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3])); + //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3])); + for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3) { - Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP with a non-collidable model\n", NUM_FOR_EDICT(ent)); - return trace; + oe[0] = ie[2]; + oe[1] = ie[1]; + oe[2] = ie[0]; } - //if (ent->v->movetype != MOVETYPE_PUSH) - //{ - // Con_Printf("SV_ClipMoveToEntity: edict %i: SOLID_BSP without MOVETYPE_PUSH\n", NUM_FOR_EDICT(ent)); - // return trace; - //} + Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); + // now create the geom + 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]); + 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((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((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f); + dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f); + break; + case SOLID_PHYSICS_CAPSULE: + axisindex = 0; + if (geomsize[axisindex] < geomsize[1]) + axisindex = 1; + if (geomsize[axisindex] < geomsize[2]) + axisindex = 2; + // the qc gives us 3 axis radius, the longest axis is the capsule + // axis, since ODE doesn't like this idea we have to create a + // capsule which uses the standard orientation, and apply a + // transform to it + 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); + else if (axisindex == 1) + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); + 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 + length = geomsize[axisindex] - radius*2; + // because we want to support more than one axisindex, we have to + // create a transform, and turn on its cleanup setting (which will + // cause the child to be destroyed when it is destroyed) + ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); + dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length); + break; + 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_CreateFromQuakeEntity(&matrix, ent->v->origin[0], ent->v->origin[1], ent->v->origin[2], ent->v->angles[0], ent->v->angles[1], ent->v->angles[2], 1); + 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)); } - else - Matrix4x4_CreateTranslate(&matrix, ent->v->origin[0], ent->v->origin[1], ent->v->origin[2]); - Matrix4x4_Invert_Simple(&imatrix, &matrix); - Matrix4x4_Transform(&imatrix, start, starttransformed); - Matrix4x4_Transform(&imatrix, end, endtransformed); -#if COLLISIONPARANOID >= 3 - Con_Printf("trans(%f %f %f -> %f %f %f, %f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2], end[0], end[1], end[2], endtransformed[0], endtransformed[1], endtransformed[2]); -#endif - - if (model && model->TraceBox) + if(ed->priv.server->ode_geom) + dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed); + if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom) { - int frame; - frame = (int)ent->v->frame; - frame = bound(0, frame, (model->numframes - 1)); - VectorAdd(starttransformed, maxs, starttransformedmaxs); - VectorAdd(endtransformed, maxs, endtransformedmaxs); - VectorAdd(starttransformed, mins, starttransformedmins); - VectorAdd(endtransformed, mins, endtransformedmins); - model->TraceBox(model, frame, &trace, starttransformedmins, starttransformedmaxs, endtransformedmins, endtransformedmaxs, SUPERCONTENTS_SOLID); + 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 - Collision_ClipTrace_Box(&trace, ent->v->mins, ent->v->maxs, starttransformed, mins, maxs, endtransformed, SUPERCONTENTS_SOLID, SUPERCONTENTS_SOLID); - trace.fraction = bound(0, trace.fraction, 1); - trace.realfraction = bound(0, trace.realfraction, 1); - - if (trace.fraction < 1) { - VectorLerp(start, trace.fraction, end, trace.endpos); - VectorCopy(trace.plane.normal, tempnormal); - Matrix4x4_Transform3x3(&matrix, tempnormal, trace.plane.normal); - // FIXME: should recalc trace.plane.dist + 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; + } } - else - VectorCopy(end, trace.endpos); - return trace; -} + // get current data from entity + VectorClear(origin); + VectorClear(velocity); + //VectorClear(forward); + //VectorClear(left); + //VectorClear(up); + //VectorClear(spinvelocity); + VectorClear(angles); + VectorClear(avelocity); + gravity = true; + VectorCopy(PRVM_gameedictvector(ed, origin), origin); + VectorCopy(PRVM_gameedictvector(ed, velocity), velocity); + //VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward); + //VectorCopy(PRVM_gameedictvector(ed, axis_left), left); + //VectorCopy(PRVM_gameedictvector(ed, axis_up), up); + //VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity); + VectorCopy(PRVM_gameedictvector(ed, angles), angles); + VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity); + if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false; + if (ed == prog->edicts) + gravity = false; + + // compatibility for legacy entities + //if (!VectorLength2(forward) || solid == SOLID_BSP) + { + float pitchsign = 1; + vec3_t qangles, qavelocity; + VectorCopy(angles, qangles); + VectorCopy(avelocity, qavelocity); -//=========================================================================== + if(!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; -/* -================== -SV_Move -================== -*/ -#if COLLISIONPARANOID >= 1 -trace_t SV_Move_(const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int type, edict_t *passedict) -#else -trace_t SV_Move(const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int type, edict_t *passedict) -#endif -{ - vec3_t hullmins, hullmaxs; - int i; - int passedictprog; - qboolean pointtrace; - edict_t *traceowner, *touch; - trace_t trace; - // bounding box of entire move area - vec3_t clipboxmins, clipboxmaxs; - // size of the moving object - vec3_t clipmins, clipmaxs; - // size when clipping against monsters - vec3_t clipmins2, clipmaxs2; - // start and end origin of move - vec3_t clipstart, clipend; - // trace results - trace_t cliptrace; - int numtouchedicts; - edict_t *touchedicts[MAX_EDICTS]; - - VectorCopy(start, clipstart); - VectorCopy(end, clipend); - VectorCopy(mins, clipmins); - VectorCopy(maxs, clipmaxs); - VectorCopy(mins, clipmins2); - VectorCopy(maxs, clipmaxs2); -#if COLLISIONPARANOID >= 3 - Con_Printf("move(%f %f %f,%f %f %f)", clipstart[0], clipstart[1], clipstart[2], clipend[0], clipend[1], clipend[2]); -#endif + AngleVectorsFLU(qangles, forward, left, up); + // convert single-axis rotations in avelocity to spinvelocity + // FIXME: untested math - check signs + VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW])); + } + + // compatibility for legacy entities + switch (solid) + { + case SOLID_BBOX: + case SOLID_SLIDEBOX: + case SOLID_CORPSE: + VectorSet(forward, 1, 0, 0); + VectorSet(left, 0, 1, 0); + VectorSet(up, 0, 0, 1); + VectorSet(spinvelocity, 0, 0, 0); + break; + } - // clip to world - cliptrace = SV_ClipMoveToEntity(sv.edicts, clipstart, clipmins, clipmaxs, clipend, type); - if (cliptrace.startsolid || cliptrace.fraction < 1) - cliptrace.ent = sv.edicts; - if (type == MOVE_WORLDONLY) - return cliptrace; - if (type == MOVE_MISSILE) + // we must prevent NANs... + if (physics_ode_trick_fixnan.integer) { - // LordHavoc: modified this, was = -15, now -= 15 - for (i = 0;i < 3;i++) + test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity); + if (IS_NAN(test)) { - clipmins2[i] -= 15; - clipmaxs2[i] += 15; + 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(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 (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)) + { + VectorClear(avelocity); + VectorClear(spinvelocity); + } } } - // get adjusted box for bmodel collisions if the world is q1bsp or hlbsp - if (sv.worldmodel && sv.worldmodel->brush.RoundUpToHullSize) - sv.worldmodel->brush.RoundUpToHullSize(sv.worldmodel, clipmins, clipmaxs, hullmins, hullmaxs); - else + // check if the qc edited any position data + if (!VectorCompare(origin, ed->priv.server->ode_origin) + || !VectorCompare(velocity, ed->priv.server->ode_velocity) + || !VectorCompare(angles, ed->priv.server->ode_angles) + || !VectorCompare(avelocity, ed->priv.server->ode_avelocity) + || gravity != ed->priv.server->ode_gravity) + modified = true; + + // store the qc values into the physics engine + body = (dBodyID)ed->priv.server->ode_body; + if (modified && ed->priv.server->ode_geom) { - VectorCopy(clipmins, hullmins); - VectorCopy(clipmaxs, hullmaxs); + dVector3 r[3]; + matrix4x4_t entitymatrix; + matrix4x4_t bodymatrix; + +#if 0 + Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts)); + if(!VectorCompare(origin, ed->priv.server->ode_origin)) + Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->priv.server->ode_origin[0], ed->priv.server->ode_origin[1], ed->priv.server->ode_origin[2], origin[0], origin[1], origin[2]); + if(!VectorCompare(velocity, ed->priv.server->ode_velocity)) + Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_velocity[0], ed->priv.server->ode_velocity[1], ed->priv.server->ode_velocity[2], velocity[0], velocity[1], velocity[2]); + if(!VectorCompare(angles, ed->priv.server->ode_angles)) + Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->priv.server->ode_angles[0], ed->priv.server->ode_angles[1], ed->priv.server->ode_angles[2], angles[0], angles[1], angles[2]); + if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity)) + Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_avelocity[0], ed->priv.server->ode_avelocity[1], ed->priv.server->ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]); + if(gravity != ed->priv.server->ode_gravity) + Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity); +#endif + + // values for BodyFromEntity to check if the qc modified anything later + VectorCopy(origin, ed->priv.server->ode_origin); + VectorCopy(velocity, ed->priv.server->ode_velocity); + VectorCopy(angles, ed->priv.server->ode_angles); + VectorCopy(avelocity, ed->priv.server->ode_avelocity); + ed->priv.server->ode_gravity = gravity; + + Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin); + Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix); + Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin); + r[0][0] = forward[0]; + r[1][0] = forward[1]; + r[2][0] = forward[2]; + r[0][1] = left[0]; + r[1][1] = left[1]; + r[2][1] = left[2]; + r[0][2] = up[0]; + r[1][2] = up[1]; + r[2][2] = up[2]; + if(body) + { + if(movetype == MOVETYPE_PHYSICS) + { + dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body); + dBodySetPosition(body, origin[0], origin[1], origin[2]); + dBodySetRotation(body, r[0]); + dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]); + dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]); + dBodySetGravityMode(body, gravity); + } + else + { + dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body); + dBodySetPosition(body, origin[0], origin[1], origin[2]); + dBodySetRotation(body, r[0]); + dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]); + dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]); + dBodySetGravityMode(body, gravity); + dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); + } + } + else + { + // no body... then let's adjust the parameters of the geom directly + dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen) + dGeomSetPosition((dGeomID)ed->priv.server->ode_geom, origin[0], origin[1], origin[2]); + dGeomSetRotation((dGeomID)ed->priv.server->ode_geom, r[0]); + } } - // create the bounding box of the entire move - for (i = 0;i < 3;i++) + if(body) { - clipboxmins[i] = min(clipstart[i], cliptrace.endpos[i]) + min(hullmins[i], clipmins2[i]) - 1; - clipboxmaxs[i] = max(clipstart[i], cliptrace.endpos[i]) + max(hullmaxs[i], clipmaxs2[i]) + 1; + + // 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; } +} - // debug override to test against everything - if (sv_debugmove.integer) +#define MAX_CONTACTS 16 +static void nearCallback (void *data, dGeomID o1, dGeomID o2) +{ + world_t *world = (world_t *)data; + dContact contact[MAX_CONTACTS]; // max contacts per collision pair + dBodyID b1; + dBodyID b2; + dJointID c; + int i; + int numcontacts; + float bouncefactor1 = 0.0f; + float bouncestop1 = 60.0f / 800.0f; + float bouncefactor2 = 0.0f; + float bouncestop2 = 60.0f / 800.0f; + dVector3 grav; + prvm_edict_t *ed1, *ed2; + + if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) { - clipboxmins[0] = clipboxmins[1] = clipboxmins[2] = -999999999; - clipboxmaxs[0] = clipboxmaxs[1] = clipboxmaxs[2] = 999999999; + // colliding a space with something + dSpaceCollide2(o1, o2, data, &nearCallback); + // Note we do not want to test intersections within a space, + // only between spaces. + //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback); + //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback); + return; } - // if the passedict is world, make it NULL (to avoid two checks each time) - if (passedict == sv.edicts) - passedict = NULL; - // precalculate prog value for passedict for comparisons - passedictprog = EDICT_TO_PROG(passedict); - // figure out whether this is a point trace for comparisons - pointtrace = VectorCompare(clipmins, clipmaxs); - // precalculate passedict's owner edict pointer for comparisons - traceowner = passedict ? PROG_TO_EDICT(passedict->v->owner) : 0; + b1 = dGeomGetBody(o1); + b2 = dGeomGetBody(o2); - // clip to enttiies - numtouchedicts = SV_EntitiesInBox(clipboxmins, clipboxmaxs, MAX_EDICTS, touchedicts); - if (numtouchedicts > MAX_EDICTS) + // at least one object has to be using MOVETYPE_PHYSICS or we just don't care + if (!b1 && !b2) + return; + + // exit without doing anything if the two bodies are connected by a joint + if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact)) + return; + + ed1 = (prvm_edict_t *) dGeomGetData(o1); + if(ed1 && ed1->priv.server->free) + ed1 = NULL; + if(ed1) { - // this never happens - Con_Printf("SV_EntitiesInBox returned %i edicts, max was %i\n", numtouchedicts, MAX_EDICTS); - numtouchedicts = MAX_EDICTS; + bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor); + bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop); + if (!bouncestop1) + bouncestop1 = 60.0f / 800.0f; } - for (i = 0;i < numtouchedicts;i++) - { - touch = touchedicts[i]; - if (touch->v->solid < SOLID_BBOX) - continue; - if (type == MOVE_NOMONSTERS && touch->v->solid != SOLID_BSP) - continue; + 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 (passedict) + if(!strcmp(prog->name, "server")) + { + if(ed1 && PRVM_serveredictfunction(ed1, touch)) + { + SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts); + } + if(ed2 && PRVM_serveredictfunction(ed2, touch)) { - // don't clip against self - if (passedict == touch) - continue; - // don't clip owned entities against owner - if (traceowner == touch) - continue; - // don't clip owner against owned entities - if (passedictprog == touch->v->owner) - continue; - // don't clip points against points (they can't collide) - if (pointtrace && VectorCompare(touch->v->mins, touch->v->maxs) && (type != MOVE_MISSILE || !((int)touch->v->flags & FL_MONSTER))) - continue; - // don't clip corpse against character - if (passedict->v->solid == SOLID_CORPSE && (touch->v->solid == SOLID_SLIDEBOX || touch->v->solid == SOLID_CORPSE)) - continue; - // don't clip character against corpse - if (passedict->v->solid == SOLID_SLIDEBOX && touch->v->solid == SOLID_CORPSE) - continue; + SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts); } + } - // might interact, so do an exact clip - if ((int)touch->v->flags & FL_MONSTER) - trace = SV_ClipMoveToEntity(touch, clipstart, clipmins2, clipmaxs2, clipend, type); - else - trace = SV_ClipMoveToEntity(touch, clipstart, clipmins, clipmaxs, clipend, type); - // LordHavoc: take the 'best' answers from the new trace and combine with existing data - if (trace.allsolid) - cliptrace.allsolid = true; - if (trace.startsolid) + // merge bounce factors and bounce stop + if(bouncefactor2 > 0) + { + if(bouncefactor1 > 0) { - cliptrace.startsolid = true; - if (cliptrace.realfraction == 1) - cliptrace.ent = touch; + // TODO possibly better logic to merge bounce factor data? + if(bouncestop2 < bouncestop1) + bouncestop1 = bouncestop2; + if(bouncefactor2 > bouncefactor1) + bouncefactor1 = bouncefactor2; } - // don't set this except on the world, because it can easily confuse - // monsters underwater if there's a bmodel involved in the trace - // (inopen && inwater is how they check water visibility) - //if (trace.inopen) - // cliptrace.inopen = true; - if (trace.inwater) - cliptrace.inwater = true; - if (trace.realfraction < cliptrace.realfraction) + else { - cliptrace.fraction = trace.fraction; - cliptrace.realfraction = trace.realfraction; - VectorCopy(trace.endpos, cliptrace.endpos); - cliptrace.plane = trace.plane; - cliptrace.ent = touch; + bouncestop1 = bouncestop2; + bouncefactor1 = bouncefactor2; } - cliptrace.startsupercontents |= trace.startsupercontents; } + dWorldGetGravity((dWorldID)world->physics.ode_world, grav); + bouncestop1 *= fabs(grav[2]); - return cliptrace; -} - -#if COLLISIONPARANOID >= 1 -trace_t SV_Move(const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int type, edict_t *passedict) -{ - int endstuck; - trace_t trace; - vec3_t temp; - trace = SV_Move_(start, mins, maxs, end, type, passedict); - if (passedict) + // generate contact points between the two non-space geoms + numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0])); + // add these contact points to the simulation + for (i = 0;i < numcontacts;i++) { - VectorCopy(trace.endpos, temp); - endstuck = SV_Move_(temp, mins, maxs, temp, type, passedict).startsolid; -#if COLLISIONPARANOID < 3 - if (trace.startsolid || endstuck) -#endif - Con_Printf("%s{e%i:%f %f %f:%f %f %f:%f:%f %f %f%s%s}\n", (trace.startsolid || endstuck) ? "\002" : "", passedict ? passedict - sv.edicts : -1, passedict->v->origin[0], passedict->v->origin[1], passedict->v->origin[2], end[0] - passedict->v->origin[0], end[1] - passedict->v->origin[1], end[2] - passedict->v->origin[2], trace.fraction, trace.endpos[0] - passedict->v->origin[0], trace.endpos[1] - passedict->v->origin[1], trace.endpos[2] - passedict->v->origin[2], trace.startsolid ? " startstuck" : "", endstuck ? " endstuck" : ""); + contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0) | (bouncefactor1 > 0 ? dContactBounce : 0); + contact[i].surface.mu = physics_ode_contact_mu.value; + contact[i].surface.soft_erp = physics_ode_contact_erp.value; + contact[i].surface.soft_cfm = physics_ode_contact_cfm.value; + contact[i].surface.bounce = bouncefactor1; + contact[i].surface.bounce_vel = bouncestop1; + c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i); + dJointAttach(c, b1, b2); } - return trace; } #endif -int SV_PointSuperContents(const vec3_t point) +void World_Physics_Frame(world_t *world, double frametime, double gravity) { - return SV_Move(point, vec3_origin, vec3_origin, point, sv_gameplayfix_swiminbmodels.integer ? MOVE_NOMONSTERS : MOVE_WORLDONLY, NULL).startsupercontents; -} + double tdelta, tdelta2, tdelta3, simulationtime, collisiontime; -int SV_PointQ1Contents(const vec3_t point) -{ - return Mod_Q1BSP_NativeContentsFromSuperContents(NULL, SV_PointSuperContents(point)); -} + tdelta = Sys_DoubleTime(); +#ifdef USEODE + if (world->physics.ode && physics_ode.integer) + { + int i; + prvm_edict_t *ed; + + world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000); + if (physics_ode_constantstep.integer) + world->physics.ode_step = sys_ticrate.value / world->physics.ode_iterations; + else + world->physics.ode_step = frametime / world->physics.ode_iterations; + world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step; + World_Physics_UpdateODE(world); + + // copy physics properties from entities to physics engine + if (prog) + { + for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) + if (!prog->edicts[i].priv.required->free) + World_Physics_Frame_BodyFromEntity(world, ed); + // oh, and it must be called after all bodies were created + for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) + if (!prog->edicts[i].priv.required->free) + World_Physics_Frame_JointFromEntity(world, ed); + } + + tdelta2 = Sys_DoubleTime(); + collisiontime = 0; + for (i = 0;i < world->physics.ode_iterations;i++) + { + // set the gravity + dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value); + // set the tolerance for closeness of objects + dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value)); + + // run collisions for the current world state, creating JointGroup + tdelta3 = Sys_DoubleTime(); + dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback); + collisiontime += (Sys_DoubleTime() - tdelta3)*10000; + + // run physics (move objects, calculate new velocities) + if (physics_ode_worldstep.integer == 2) + { + dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200)); + dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step); + } +#ifdef ODE_USE_STEPFAST + else if (physics_ode_worldstep.integer == 1) + dWorldStepFast1((dWorldID)world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstep_iterations.integer, 200)); +#endif + else + dWorldStep((dWorldID)world->physics.ode_world, world->physics.ode_step); + + // clear the JointGroup now that we're done with it + dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup); + } + simulationtime = (Sys_DoubleTime() - tdelta2)*10000; + // copy physics properties from physics engine to entities and do some stats + if (prog) + { + for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) + if (!prog->edicts[i].priv.required->free) + World_Physics_Frame_BodyToEntity(world, ed); + + // print stats + if (physics_ode_printstats.integer) + { + dBodyID body; + world->physics.ode_numobjects = 0; + world->physics.ode_activeovjects = 0; + for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) + { + if (prog->edicts[i].priv.required->free) + continue; + body = (dBodyID)prog->edicts[i].priv.server->ode_body; + if (!body) + continue; + world->physics.ode_numobjects++; + if (dBodyIsEnabled(body)) + world->physics.ode_activeovjects++; + } + Con_Printf("ODE Stats(%s): %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, simulationtime, collisiontime, (Sys_DoubleTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects)); + } + } + } +#endif +}