X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=world.c;h=9a032bb20173555cfa3d7ca0f56b0bf95448a176;hp=54f59ecce4aca0ee098522e5ef6e5a996094e02d;hb=a252b31c07fa820178ab39c13e95c354b86107e6;hpb=c9f2e6f253a2d4e9fac2e0cf97eab2d62590cbf4;ds=sidebyside diff --git a/world.c b/world.c index 54f59ecc..9a032bb2 100644 --- a/world.c +++ b/world.c @@ -20,969 +20,2308 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // world.c -- world query functions #include "quakedef.h" +#include "clvm_cmds.h" /* entities never clip against themselves, or their owner -line of sight checks trace->crosscontent, but bullets don't +line of sight checks trace->inopen and trace->inwater, but bullets don't */ -/* -typedef struct link_s +static void World_Physics_Init(void); +void World_Init(void) { - struct link_s *prev, *next; -} link_t; -*/ - + Collision_Init(); + World_Physics_Init(); +} -void ClearLink (link_t *l); -void RemoveLink (link_t *l); -void InsertLinkBefore (link_t *l, link_t *before); -void InsertLinkAfter (link_t *l, link_t *after); +static void World_Physics_Shutdown(void); +void World_Shutdown(void) +{ + World_Physics_Shutdown(); +} -// (type *)STRUCT_FROM_LINK(link_t *link, type, member) -// ent = STRUCT_FROM_LINK(link,entity_t,order) -// FIXME: remove this mess! -//#define STRUCT_FROM_LINK(l,t,m) ((t *)((byte *)l - (int)&(((t *)0)->m))) +static void World_Physics_Start(world_t *world); +void World_Start(world_t *world) +{ + World_Physics_Start(world); +} -#define EDICT_FROM_AREA(l) ((edict_t *)((byte *)l - (int)&(((edict_t *)0)->area))) +static void World_Physics_End(world_t *world); +void World_End(world_t *world) +{ + World_Physics_End(world); +} //============================================================================ -// ClearLink is used for new headnodes -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; } -void RemoveLink (link_t *l) +void World_RemoveLink (link_t *l) { l->next->prev = l->prev; l->prev->next = l->next; } -void InsertLinkBefore (link_t *l, link_t *before) +void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber) { + l->entitynumber = entitynumber; l->next = before; l->prev = before->prev; l->prev->next = l; l->next->prev = l; } -void InsertLinkAfter (link_t *l, link_t *after) -{ - l->next = after->next; - l->prev = after; - l->prev->next = l; - l->next->prev = l; -} - - -typedef struct -{ - vec3_t boxmins, boxmaxs;// enclose the test object along entire move - float *mins, *maxs; // size of the moving object - vec3_t mins2, maxs2; // size when clipping against mosnters - float *start, *end; - trace_t trace; - int type; - edict_t *passedict; -} moveclip_t; - /* =============================================================================== -HULL BOXES +ENTITY AREA CHECKING =============================================================================== */ - -static hull_t box_hull; -static dclipnode_t box_clipnodes[6]; -static mplane_t box_planes[6]; +void World_PrintAreaStats(world_t *world, const char *worldname) +{ + 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; +} /* -=================== -SV_InitBoxHull +=============== +World_SetSize -Set up the planes and clipnodes so that the six floats of a bounding box -can just be stored out and get a proper hull_t structure. -=================== +=============== */ -void SV_InitBoxHull (void) +void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs) { - int i; - int side; - - box_hull.clipnodes = box_clipnodes; - box_hull.planes = box_planes; - box_hull.firstclipnode = 0; - box_hull.lastclipnode = 5; - - for (i=0 ; i<6 ; i++) - { - box_clipnodes[i].planenum = i; - - side = i&1; - - box_clipnodes[i].children[side] = CONTENTS_EMPTY; - if (i != 5) - box_clipnodes[i].children[side^1] = i + 1; - else - box_clipnodes[i].children[side^1] = CONTENTS_SOLID; - - box_planes[i].type = i>>1; - box_planes[i].normal[i>>1] = 1; - } - + int i; + + 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 + world->areagrid_size[0] = max(world->areagrid_maxs[0] - world->areagrid_mins[0], AREA_GRID * sv_areagrid_mingridsize.value); + world->areagrid_size[1] = max(world->areagrid_maxs[1] - world->areagrid_mins[1], AREA_GRID * sv_areagrid_mingridsize.value); + world->areagrid_size[2] = max(world->areagrid_maxs[2] - world->areagrid_mins[2], AREA_GRID * sv_areagrid_mingridsize.value); + // figure out the corners of such a box, centered at the center of the world box + world->areagrid_mins[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] - world->areagrid_size[0]) * 0.5f; + world->areagrid_mins[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] - world->areagrid_size[1]) * 0.5f; + world->areagrid_mins[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] - world->areagrid_size[2]) * 0.5f; + world->areagrid_maxs[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] + world->areagrid_size[0]) * 0.5f; + world->areagrid_maxs[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] + world->areagrid_size[1]) * 0.5f; + world->areagrid_maxs[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] + world->areagrid_size[2]) * 0.5f; + // now calculate the actual useful info from that + VectorNegate(world->areagrid_mins, world->areagrid_bias); + world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0]; + world->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++) + World_ClearLink(&world->areagrid[i]); + if (developer.integer >= 10) + Con_Printf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value); } - /* -=================== -SV_HullForBox +=============== +World_UnlinkAll -To keep everything totally uniform, bounding boxes are turned into small -BSP trees instead of being compared directly. -=================== +=============== */ -hull_t *SV_HullForBox (vec3_t mins, vec3_t maxs) +void World_UnlinkAll(world_t *world) { - box_planes[0].dist = maxs[0]; - box_planes[1].dist = mins[0]; - box_planes[2].dist = maxs[1]; - box_planes[3].dist = mins[1]; - box_planes[4].dist = maxs[2]; - box_planes[5].dist = mins[2]; - - return &box_hull; + 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_HullForEntity - -Returns a hull that can be used for testing or clipping an object of mins/maxs -size. -Offset is filled in to contain the adjustment that must be added to the -testing object's origin to get a point to use with the returned hull. -================ +=============== + +=============== */ -hull_t *SV_HullForEntity (edict_t *ent, vec3_t mins, vec3_t maxs, vec3_t offset) +void World_UnlinkEdict(prvm_edict_t *ent) { - model_t *model; - vec3_t size; - vec3_t hullmins, hullmaxs; - hull_t *hull; - -// decide which clipping hull to use, based on the size - if (ent->v.solid == SOLID_BSP) - { // explicit hulls in the BSP model - if (ent->v.movetype != MOVETYPE_PUSH) - Host_Error ("SOLID_BSP without MOVETYPE_PUSH"); - - model = sv.models[ (int)ent->v.modelindex ]; - Mod_CheckLoaded(model); - - // LordHavoc: fixed SOLID_BSP error message - if (!model || model->type != mod_brush) + int i; + for (i = 0;i < ENTITYGRIDAREAS;i++) + { + if (ent->priv.server->areagrid[i].prev) { - Con_Printf ("SOLID_BSP with a non bsp model, entity dump:\n"); - ED_Print (ent); - Host_Error ("SOLID_BSP with a non bsp model\n"); + World_RemoveLink (&ent->priv.server->areagrid[i]); + ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL; } + } +} - VectorSubtract (maxs, mins, size); - // LordHavoc: FIXME!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! - if (sv.worldmodel->ishlbsp) +int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, prvm_edict_t **list) +{ + int numlist; + link_t *grid; + link_t *l; + prvm_edict_t *ent; + int igrid[3], igridmins[3], igridmaxs[3]; + + // 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]); + igridmaxs[0] = min(AREA_GRID, igridmaxs[0]); + igridmaxs[1] = min(AREA_GRID, igridmaxs[1]); + //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]); + + numlist = 0; + // add entities not linked into areagrid because they are too big or + // outside the grid bounds + if (world->areagrid_outside.next != &world->areagrid_outside) + { + grid = &world->areagrid_outside; + for (l = grid->next;l != grid;l = l->next) { - if (size[0] < 3) - hull = &model->hulls[0]; // 0x0x0 - else if (size[0] <= 32) + ent = PRVM_EDICT_NUM(l->entitynumber); + if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber) { - if (size[2] < 54) // pick the nearest of 36 or 72 - hull = &model->hulls[3]; // 32x32x36 - else - hull = &model->hulls[1]; // 32x32x72 + 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++; + } + world->areagrid_stats_entitychecks++; } - else - hull = &model->hulls[2]; // 64x64x64 } - else + } + // add grid linked entities + for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++) + { + grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0]; + for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++) { - if (size[0] < 3) - hull = &model->hulls[0]; // 0x0x0 - else if (size[0] <= 32) - hull = &model->hulls[1]; // 32x32x56 - else - hull = &model->hulls[2]; // 64x64x88 + if (grid->next != grid) + { + for (l = grid->next;l != grid;l = l->next) + { + ent = PRVM_EDICT_NUM(l->entitynumber); + if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber) + { + ent->priv.server->areagridmarknumber = world->areagrid_marknumber; + if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs)) + { + if (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]); + } + world->areagrid_stats_entitychecks++; + } + } } - -// calculate an offset value to center the origin - VectorSubtract (hull->clip_mins, mins, offset); - VectorAdd (offset, ent->v.origin, offset); } - else - { // create a temp hull from bounding box sizes + return numlist; +} - VectorSubtract (ent->v.mins, maxs, hullmins); - VectorSubtract (ent->v.maxs, mins, hullmaxs); - hull = SV_HullForBox (hullmins, hullmaxs); +void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent) +{ + link_t *grid; + int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent); - VectorCopy (ent->v.origin, offset); + if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent) + { + Con_Printf ("World_LinkEdict_AreaGrid: invalid edict %p (edicts is %p, edict compared to prog->edicts is %i)\n", (void *)ent, (void *)prog->edicts, entitynumber); + return; } + igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]); + igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]); + //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]); + igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1; + igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1; + //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1; + if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS) + { + // wow, something outside the grid, store it as such + World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber); + return; + } - return hull; + gridnum = 0; + for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++) + { + grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0]; + for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++) + World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber); + } } -/* -=============================================================================== - -ENTITY AREA CHECKING - -=============================================================================== -*/ - -typedef struct areanode_s -{ - int axis; // -1 = leaf node - float dist; - struct areanode_s *children[2]; - link_t trigger_edicts; - link_t solid_edicts; -} areanode_t; - -#define AREA_DEPTH 4 -#define AREA_NODES 32 - -static areanode_t sv_areanodes[AREA_NODES]; -static int sv_numareanodes; - /* =============== -SV_CreateAreaNode +World_LinkEdict =============== */ -areanode_t *SV_CreateAreaNode (int depth, vec3_t mins, vec3_t maxs) +void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs) { - areanode_t *anode; - vec3_t size; - vec3_t mins1, maxs1, mins2, maxs2; + // unlink from old position first + if (ent->priv.server->areagrid[0].prev) + World_UnlinkEdict(ent); - anode = &sv_areanodes[sv_numareanodes]; - sv_numareanodes++; + // don't add the world + if (ent == prog->edicts) + return; - ClearLink (&anode->trigger_edicts); - ClearLink (&anode->solid_edicts); + // don't add free entities + if (ent->priv.server->free) + return; - if (depth == AREA_DEPTH) - { - anode->axis = -1; - anode->children[0] = anode->children[1] = NULL; - return anode; - } + VectorCopy(mins, ent->priv.server->areamins); + VectorCopy(maxs, ent->priv.server->areamaxs); + World_LinkEdict_AreaGrid(world, ent); +} - VectorSubtract (maxs, mins, size); - if (size[0] > size[1]) - anode->axis = 0; - else - anode->axis = 1; - anode->dist = 0.5 * (maxs[anode->axis] + mins[anode->axis]); - VectorCopy (mins, mins1); - VectorCopy (mins, mins2); - VectorCopy (maxs, maxs1); - VectorCopy (maxs, maxs2); - maxs1[anode->axis] = mins2[anode->axis] = anode->dist; - anode->children[0] = SV_CreateAreaNode (depth+1, mins2, maxs2); - anode->children[1] = SV_CreateAreaNode (depth+1, mins1, maxs1); +//============================================================================ +// physics engine support +//============================================================================ - return anode; -} +#ifndef ODE_STATIC +#define ODE_DYNAMIC 1 +#endif -/* -=============== -SV_ClearWorld +#if defined(ODE_STATIC) || defined(ODE_DYNAMIC) +#define USEODE 1 +#endif -=============== -*/ -void SV_ClearWorld (void) -{ - SV_InitBoxHull (); +#ifdef USEODE +cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"}; +cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"}; +cvar_t physics_ode_worldquickstep = {0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStepFast1 or dWorldStep"}; +cvar_t physics_ode_worldquickstep_iterations = {0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"}; +cvar_t physics_ode_worldstepfast = {0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"}; +cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"}; +cvar_t physics_ode_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_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"}; +cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"}; +cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"}; + +// 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 - memset (sv_areanodes, 0, sizeof(sv_areanodes)); - sv_numareanodes = 0; - Mod_CheckLoaded(sv.worldmodel); - SV_CreateAreaNode (0, sv.worldmodel->normalmins, sv.worldmodel->normalmaxs); +// 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; + +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; -/* -=============== -SV_UnlinkEdict - -=============== -*/ -void SV_UnlinkEdict (edict_t *ent) +typedef struct dMass { - if (!ent->area.prev) - return; // not linked in anywhere - RemoveLink (&ent->area); - ent->area.prev = ent->area.next = NULL; + 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; -/* -==================== -SV_TouchLinks -==================== -*/ -void SV_TouchLinks ( edict_t *ent, areanode_t *node ) +typedef struct dContact +{ + dSurfaceParameters surface; + dContactGeom geom; + dVector3 fdir1; +} +dContact; + +typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); + +// SAP +// Order XZY or ZXY usually works best, if your Y is up. +#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) +#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) +#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) +#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) +#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) +#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) + +//const char* (ODE_API *dGetConfiguration)(void); +//int (ODE_API *dCheckConfiguration)( const char* token ); +int (ODE_API *dInitODE)(void); +//int (ODE_API *dInitODE2)(unsigned int uiInitFlags); +//int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags); +//void (ODE_API *dCleanupODEAllDataForThread)(void); +void (ODE_API *dCloseODE)(void); + +//int (ODE_API *dMassCheck)(const dMass *m); +//void (ODE_API *dMassSetZero)(dMass *); +//void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23); +//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius); +void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius); +//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length); +void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); +//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length); +//void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); +//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz); +void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz); +//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g); +//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g); +//void (ODE_API *dMassAdjust)(dMass *, dReal newmass); +//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z); +//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R); +//void (ODE_API *dMassAdd)(dMass *a, const dMass *b); +// +dWorldID (ODE_API *dWorldCreate)(void); +void (ODE_API *dWorldDestroy)(dWorldID world); +void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z); +void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity); +//void (ODE_API *dWorldSetERP)(dWorldID, dReal erp); +//dReal (ODE_API *dWorldGetERP)(dWorldID); +//void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm); +//dReal (ODE_API *dWorldGetCFM)(dWorldID); +void (ODE_API *dWorldStep)(dWorldID, dReal stepsize); +//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force); +void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize); +void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num); +//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID); +//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation); +//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID); +//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel); +//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID); +void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth); +//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID); +void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); +//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth); +//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID); +//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold); +//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold); +//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold); +//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold); +//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count ); +//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps); +//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time); +//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID); +//void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable); +//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w); +//void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold); +//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w); +//void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold); +//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w); +//void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale); +//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w); +//void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale); +//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale); +//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w); +//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed); +//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID); +//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold); +//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID); +//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold); +//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID); +//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count); +//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID); +//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps); +//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID); +//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time); +//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID); +//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable); +//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID); +//dWorldID (ODE_API *dBodyGetWorld)(dBodyID); +dBodyID (ODE_API *dBodyCreate)(dWorldID); +void (ODE_API *dBodyDestroy)(dBodyID); +void (ODE_API *dBodySetData)(dBodyID, void *data); +void * (ODE_API *dBodyGetData)(dBodyID); +void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z); +void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R); +//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q); +void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z); +void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z); +const dReal * (ODE_API *dBodyGetPosition)(dBodyID); +//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos); +const dReal * (ODE_API *dBodyGetRotation)(dBodyID); +//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R); +//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID); +//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat); +const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID); +const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID); +void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass); +//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass); +//void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz); +//void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +//const dReal * (ODE_API *dBodyGetForce)(dBodyID); +//const dReal * (ODE_API *dBodyGetTorque)(dBodyID); +//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z); +//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z); +//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); +//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode); +//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z); +//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID); +//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result); +//int (ODE_API *dBodyGetNumJoints)(dBodyID b); +//dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index); +//void (ODE_API *dBodySetDynamic)(dBodyID); +//void (ODE_API *dBodySetKinematic)(dBodyID); +//int (ODE_API *dBodyIsKinematic)(dBodyID); +//void (ODE_API *dBodyEnable)(dBodyID); +//void (ODE_API *dBodyDisable)(dBodyID); +//int (ODE_API *dBodyIsEnabled)(dBodyID); +void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode); +int (ODE_API *dBodyGetGravityMode)(dBodyID b); +//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID)); +//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b); +//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g); +//void (ODE_API *dBodySetDampingDefaults)(dBodyID b); +//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b); +//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale); +//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b); +//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale); +//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale); +//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b); +//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold); +//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b); +//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold); +//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b); +//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed); +//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b); +//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled); +//dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID); +dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *); +//dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID); +//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID); +//void (ODE_API *dJointDestroy)(dJointID); +dJointGroupID (ODE_API *dJointGroupCreate)(int max_size); +void (ODE_API *dJointGroupDestroy)(dJointGroupID); +void (ODE_API *dJointGroupEmpty)(dJointGroupID); +//int (ODE_API *dJointGetNumBodies)(dJointID); +void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2); +//void (ODE_API *dJointEnable)(dJointID); +//void (ODE_API *dJointDisable)(dJointID); +//int (ODE_API *dJointIsEnabled)(dJointID); +//void (ODE_API *dJointSetData)(dJointID, void *data); +//void * (ODE_API *dJointGetData)(dJointID); +//dJointType (ODE_API *dJointGetType)(dJointID); +//dBodyID (ODE_API *dJointGetBody)(dJointID, int index); +//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *); +//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID); +//void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); +//void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle); +//void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque); +//void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); +//void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force); +//void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2); +//void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); +//void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); +//void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2); +//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque); +//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); +//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque); +//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); +//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force); +//void (ODE_API *dJointSetFixed)(dJointID); +//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num); +//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle); +//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode); +//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3); +//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num); +//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); +//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value); +//void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter); +//void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter); +//dReal (ODE_API *dJointGetHingeAngle)(dJointID); +//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID); +//dReal (ODE_API *dJointGetSliderPosition)(dJointID); +//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID); +//void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter); +//void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter); +//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID); +//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID); +//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID); +//void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter); +//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2); +//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID); +//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID); +//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID); +//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID); +//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPRPosition)(dJointID); +//dReal (ODE_API *dJointGetPRPositionRate)(dJointID); +//dReal (ODE_API *dJointGetPRAngle)(dJointID); +//dReal (ODE_API *dJointGetPRAngleRate)(dJointID); +//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter); +//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPUPosition)(dJointID); +//dReal (ODE_API *dJointGetPUPositionRate)(dJointID); +//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result); +//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2); +//dReal (ODE_API *dJointGetPUAngle1)(dJointID); +//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID); +//dReal (ODE_API *dJointGetPUAngle2)(dJointID); +//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID); +//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter); +//dReal (ODE_API *dJointGetPistonPosition)(dJointID); +//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID); +//dReal (ODE_API *dJointGetPistonAngle)(dJointID); +//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID); +//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result); +//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result); +//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter); +//int (ODE_API *dJointGetAMotorNumAxes)(dJointID); +//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result); +//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum); +//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum); +//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum); +//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter); +//int (ODE_API *dJointGetAMotorMode)(dJointID); +//int (ODE_API *dJointGetLMotorNumAxes)(dJointID); +//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result); +//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter); +//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter); +//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID); +//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*); +int (ODE_API *dAreConnected)(dBodyID, dBodyID); +int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type); +// +dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space); +dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space); +dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); +//dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder ); +void (ODE_API *dSpaceDestroy)(dSpaceID); +//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel); +//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel); +//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode); +//int (ODE_API *dSpaceGetCleanup)(dSpaceID space); +//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel); +//int (ODE_API *dSpaceGetSublevel)(dSpaceID space); +//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode); +//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space); +//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID); +//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID); +//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID); +//void (ODE_API *dSpaceClean)(dSpaceID); +//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID); +//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i); +//int (ODE_API *dSpaceGetClass)(dSpaceID space); +// +void (ODE_API *dGeomDestroy)(dGeomID geom); +//void (ODE_API *dGeomSetData)(dGeomID geom, void* data); +//void * (ODE_API *dGeomGetData)(dGeomID geom); +void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body); +dBodyID (ODE_API *dGeomGetBody)(dGeomID geom); +//void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z); +void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R); +//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q); +//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom); +//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos); +//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom); +//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R); +//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result); +//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]); +int (ODE_API *dGeomIsSpace)(dGeomID geom); +//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID); +//int (ODE_API *dGeomGetClass)(dGeomID geom); +//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits); +//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits); +//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID); +//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID); +//void (ODE_API *dGeomEnable)(dGeomID geom); +//void (ODE_API *dGeomDisable)(dGeomID geom); +//int (ODE_API *dGeomIsEnabled)(dGeomID geom); +//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z); +//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R); +//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q); +//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z); +//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R); +//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion); +//void (ODE_API *dGeomClearOffset)(dGeomID geom); +//int (ODE_API *dGeomIsOffset)(dGeomID geom); +//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom); +//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos); +//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom); +//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R); +//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result); +int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip); +// +void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback); +void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); +// +dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius); +//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius); +//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere); +//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z); +// +//dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); +//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); +// +dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz); +//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz); +//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result); +//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); +//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); +// +//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d); +//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d); +//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result); +//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z); +// +dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length); +//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length); +//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length); +//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z); +// +//dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length); +//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length); +//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length); +// +//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length); +//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length); +//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray); +//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); +//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir); +// +dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space); +void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj); +//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g); +void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode); +//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g); +//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode); +//int (ODE_API *dGeomTransformGetInfo)(dGeomID g); + +enum { TRIMESH_FACE_NORMALS }; +typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); +typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); +typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); +typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); + +dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void); +void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g); +//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data); +//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id); +//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans ); +//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g ); +void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); +//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); +//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); +//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); +//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount); +//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals); +//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g); +//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen); +//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf); +//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback); +//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g); +//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback); +//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g); +//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback); +//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g); +//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback); +//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g); +dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); +//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data); +//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g); +//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable); +//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass); +//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g); +//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g); +//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); +//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); +//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g); +//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g); + +static dllfunction_t odefuncs[] = { - link_t *l, *next; - edict_t *touch; - int old_self, old_other; +// {"dGetConfiguration", (void **) &dGetConfiguration}, +// {"dCheckConfiguration", (void **) &dCheckConfiguration}, + {"dInitODE", (void **) &dInitODE}, +// {"dInitODE2", (void **) &dInitODE2}, +// {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread}, +// {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread}, + {"dCloseODE", (void **) &dCloseODE}, +// {"dMassCheck", (void **) &dMassCheck}, +// {"dMassSetZero", (void **) &dMassSetZero}, +// {"dMassSetParameters", (void **) &dMassSetParameters}, +// {"dMassSetSphere", (void **) &dMassSetSphere}, + {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal}, +// {"dMassSetCapsule", (void **) &dMassSetCapsule}, + {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal}, +// {"dMassSetCylinder", (void **) &dMassSetCylinder}, +// {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal}, +// {"dMassSetBox", (void **) &dMassSetBox}, + {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal}, +// {"dMassSetTrimesh", (void **) &dMassSetTrimesh}, +// {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal}, +// {"dMassAdjust", (void **) &dMassAdjust}, +// {"dMassTranslate", (void **) &dMassTranslate}, +// {"dMassRotate", (void **) &dMassRotate}, +// {"dMassAdd", (void **) &dMassAdd}, + + {"dWorldCreate", (void **) &dWorldCreate}, + {"dWorldDestroy", (void **) &dWorldDestroy}, + {"dWorldSetGravity", (void **) &dWorldSetGravity}, + {"dWorldGetGravity", (void **) &dWorldGetGravity}, +// {"dWorldSetERP", (void **) &dWorldSetERP}, +// {"dWorldGetERP", (void **) &dWorldGetERP}, +// {"dWorldSetCFM", (void **) &dWorldSetCFM}, +// {"dWorldGetCFM", (void **) &dWorldGetCFM}, + {"dWorldStep", (void **) &dWorldStep}, +// {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce}, + {"dWorldQuickStep", (void **) &dWorldQuickStep}, + {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations}, +// {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations}, +// {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW}, +// {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW}, +// {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel}, +// {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel}, + {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer}, +// {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer}, + {"dWorldStepFast1", (void **) &dWorldStepFast1}, +// {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1}, +// {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1}, +// {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold}, +// {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold}, +// {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold}, +// {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold}, +// {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold}, +// {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold}, +// {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold}, +// {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold}, +// {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount}, +// {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount}, +// {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps}, +// {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps}, +// {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime}, +// {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime}, +// {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag}, +// {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag}, +// {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold}, +// {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold}, +// {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold}, +// {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold}, +// {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping}, +// {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping}, +// {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping}, +// {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping}, +// {"dWorldSetDamping", (void **) &dWorldSetDamping}, +// {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed}, +// {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed}, +// {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold}, +// {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold}, +// {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold}, +// {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold}, +// {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount}, +// {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount}, +// {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps}, +// {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps}, +// {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime}, +// {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime}, +// {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag}, +// {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag}, +// {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults}, +// {"dBodyGetWorld", (void **) &dBodyGetWorld}, + {"dBodyCreate", (void **) &dBodyCreate}, + {"dBodyDestroy", (void **) &dBodyDestroy}, + {"dBodySetData", (void **) &dBodySetData}, + {"dBodyGetData", (void **) &dBodyGetData}, + {"dBodySetPosition", (void **) &dBodySetPosition}, + {"dBodySetRotation", (void **) &dBodySetRotation}, +// {"dBodySetQuaternion", (void **) &dBodySetQuaternion}, + {"dBodySetLinearVel", (void **) &dBodySetLinearVel}, + {"dBodySetAngularVel", (void **) &dBodySetAngularVel}, + {"dBodyGetPosition", (void **) &dBodyGetPosition}, +// {"dBodyCopyPosition", (void **) &dBodyCopyPosition}, + {"dBodyGetRotation", (void **) &dBodyGetRotation}, +// {"dBodyCopyRotation", (void **) &dBodyCopyRotation}, +// {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion}, +// {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion}, + {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel}, + {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel}, + {"dBodySetMass", (void **) &dBodySetMass}, +// {"dBodyGetMass", (void **) &dBodyGetMass}, +// {"dBodyAddForce", (void **) &dBodyAddForce}, +// {"dBodyAddTorque", (void **) &dBodyAddTorque}, +// {"dBodyAddRelForce", (void **) &dBodyAddRelForce}, +// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque}, +// {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos}, +// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos}, +// {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos}, +// {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos}, +// {"dBodyGetForce", (void **) &dBodyGetForce}, +// {"dBodyGetTorque", (void **) &dBodyGetTorque}, +// {"dBodySetForce", (void **) &dBodySetForce}, +// {"dBodySetTorque", (void **) &dBodySetTorque}, +// {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos}, +// {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel}, +// {"dBodyGetPointVel", (void **) &dBodyGetPointVel}, +// {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint}, +// {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld}, +// {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld}, +// {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode}, +// {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis}, +// {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode}, +// {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis}, +// {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints}, +// {"dBodyGetJoint", (void **) &dBodyGetJoint}, +// {"dBodySetDynamic", (void **) &dBodySetDynamic}, +// {"dBodySetKinematic", (void **) &dBodySetKinematic}, +// {"dBodyIsKinematic", (void **) &dBodyIsKinematic}, +// {"dBodyEnable", (void **) &dBodyEnable}, +// {"dBodyDisable", (void **) &dBodyDisable}, +// {"dBodyIsEnabled", (void **) &dBodyIsEnabled}, + {"dBodySetGravityMode", (void **) &dBodySetGravityMode}, + {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode}, +// {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback}, +// {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom}, +// {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom}, +// {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults}, +// {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping}, +// {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping}, +// {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping}, +// {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping}, +// {"dBodySetDamping", (void **) &dBodySetDamping}, +// {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold}, +// {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold}, +// {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold}, +// {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold}, +// {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed}, +// {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed}, +// {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode}, +// {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode}, +// {"dJointCreateBall", (void **) &dJointCreateBall}, +// {"dJointCreateHinge", (void **) &dJointCreateHinge}, +// {"dJointCreateSlider", (void **) &dJointCreateSlider}, + {"dJointCreateContact", (void **) &dJointCreateContact}, +// {"dJointCreateHinge2", (void **) &dJointCreateHinge2}, +// {"dJointCreateUniversal", (void **) &dJointCreateUniversal}, +// {"dJointCreatePR", (void **) &dJointCreatePR}, +// {"dJointCreatePU", (void **) &dJointCreatePU}, +// {"dJointCreatePiston", (void **) &dJointCreatePiston}, +// {"dJointCreateFixed", (void **) &dJointCreateFixed}, +// {"dJointCreateNull", (void **) &dJointCreateNull}, +// {"dJointCreateAMotor", (void **) &dJointCreateAMotor}, +// {"dJointCreateLMotor", (void **) &dJointCreateLMotor}, +// {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D}, +// {"dJointDestroy", (void **) &dJointDestroy}, + {"dJointGroupCreate", (void **) &dJointGroupCreate}, + {"dJointGroupDestroy", (void **) &dJointGroupDestroy}, + {"dJointGroupEmpty", (void **) &dJointGroupEmpty}, +// {"dJointGetNumBodies", (void **) &dJointGetNumBodies}, + {"dJointAttach", (void **) &dJointAttach}, +// {"dJointEnable", (void **) &dJointEnable}, +// {"dJointDisable", (void **) &dJointDisable}, +// {"dJointIsEnabled", (void **) &dJointIsEnabled}, +// {"dJointSetData", (void **) &dJointSetData}, +// {"dJointGetData", (void **) &dJointGetData}, +// {"dJointGetType", (void **) &dJointGetType}, +// {"dJointGetBody", (void **) &dJointGetBody}, +// {"dJointSetFeedback", (void **) &dJointSetFeedback}, +// {"dJointGetFeedback", (void **) &dJointGetFeedback}, +// {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor}, +// {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2}, +// {"dJointSetBallParam", (void **) &dJointSetBallParam}, +// {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor}, +// {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta}, +// {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis}, +// {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset}, +// {"dJointSetHingeParam", (void **) &dJointSetHingeParam}, +// {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque}, +// {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis}, +// {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta}, +// {"dJointSetSliderParam", (void **) &dJointSetSliderParam}, +// {"dJointAddSliderForce", (void **) &dJointAddSliderForce}, +// {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor}, +// {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1}, +// {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2}, +// {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param}, +// {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques}, +// {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor}, +// {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1}, +// {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset}, +// {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2}, +// {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset}, +// {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam}, +// {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques}, +// {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor}, +// {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1}, +// {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2}, +// {"dJointSetPRParam", (void **) &dJointSetPRParam}, +// {"dJointAddPRTorque", (void **) &dJointAddPRTorque}, +// {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor}, +// {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset}, +// {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1}, +// {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2}, +// {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3}, +// {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP}, +// {"dJointSetPUParam", (void **) &dJointSetPUParam}, +// {"dJointAddPUTorque", (void **) &dJointAddPUTorque}, +// {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor}, +// {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset}, +// {"dJointSetPistonParam", (void **) &dJointSetPistonParam}, +// {"dJointAddPistonForce", (void **) &dJointAddPistonForce}, +// {"dJointSetFixed", (void **) &dJointSetFixed}, +// {"dJointSetFixedParam", (void **) &dJointSetFixedParam}, +// {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes}, +// {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis}, +// {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle}, +// {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam}, +// {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode}, +// {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques}, +// {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes}, +// {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis}, +// {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam}, +// {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam}, +// {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam}, +// {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam}, +// {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor}, +// {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2}, +// {"dJointGetBallParam", (void **) &dJointGetBallParam}, +// {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor}, +// {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2}, +// {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis}, +// {"dJointGetHingeParam", (void **) &dJointGetHingeParam}, +// {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle}, +// {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate}, +// {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition}, +// {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate}, +// {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis}, +// {"dJointGetSliderParam", (void **) &dJointGetSliderParam}, +// {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor}, +// {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2}, +// {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1}, +// {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2}, +// {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param}, +// {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1}, +// {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate}, +// {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate}, +// {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor}, +// {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2}, +// {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1}, +// {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2}, +// {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam}, +// {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles}, +// {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1}, +// {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2}, +// {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate}, +// {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate}, +// {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor}, +// {"dJointGetPRPosition", (void **) &dJointGetPRPosition}, +// {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate}, +// {"dJointGetPRAngle", (void **) &dJointGetPRAngle}, +// {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate}, +// {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1}, +// {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2}, +// {"dJointGetPRParam", (void **) &dJointGetPRParam}, +// {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor}, +// {"dJointGetPUPosition", (void **) &dJointGetPUPosition}, +// {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate}, +// {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1}, +// {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2}, +// {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3}, +// {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP}, +// {"dJointGetPUAngles", (void **) &dJointGetPUAngles}, +// {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1}, +// {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate}, +// {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2}, +// {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate}, +// {"dJointGetPUParam", (void **) &dJointGetPUParam}, +// {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition}, +// {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate}, +// {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle}, +// {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate}, +// {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor}, +// {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2}, +// {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis}, +// {"dJointGetPistonParam", (void **) &dJointGetPistonParam}, +// {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes}, +// {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis}, +// {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel}, +// {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle}, +// {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate}, +// {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam}, +// {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode}, +// {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes}, +// {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis}, +// {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam}, +// {"dJointGetFixedParam", (void **) &dJointGetFixedParam}, +// {"dConnectingJoint", (void **) &dConnectingJoint}, +// {"dConnectingJointList", (void **) &dConnectingJointList}, + {"dAreConnected", (void **) &dAreConnected}, + {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding}, + {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate}, + {"dHashSpaceCreate", (void **) &dHashSpaceCreate}, + {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate}, +// {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate}, + {"dSpaceDestroy", (void **) &dSpaceDestroy}, +// {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels}, +// {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels}, +// {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup}, +// {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup}, +// {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel}, +// {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel}, +// {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup}, +// {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup}, +// {"dSpaceAdd", (void **) &dSpaceAdd}, +// {"dSpaceRemove", (void **) &dSpaceRemove}, +// {"dSpaceQuery", (void **) &dSpaceQuery}, +// {"dSpaceClean", (void **) &dSpaceClean}, +// {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms}, +// {"dSpaceGetGeom", (void **) &dSpaceGetGeom}, +// {"dSpaceGetClass", (void **) &dSpaceGetClass}, + {"dGeomDestroy", (void **) &dGeomDestroy}, +// {"dGeomSetData", (void **) &dGeomSetData}, +// {"dGeomGetData", (void **) &dGeomGetData}, + {"dGeomSetBody", (void **) &dGeomSetBody}, + {"dGeomGetBody", (void **) &dGeomGetBody}, +// {"dGeomSetPosition", (void **) &dGeomSetPosition}, + {"dGeomSetRotation", (void **) &dGeomSetRotation}, +// {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion}, +// {"dGeomGetPosition", (void **) &dGeomGetPosition}, +// {"dGeomCopyPosition", (void **) &dGeomCopyPosition}, +// {"dGeomGetRotation", (void **) &dGeomGetRotation}, +// {"dGeomCopyRotation", (void **) &dGeomCopyRotation}, +// {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion}, +// {"dGeomGetAABB", (void **) &dGeomGetAABB}, + {"dGeomIsSpace", (void **) &dGeomIsSpace}, +// {"dGeomGetSpace", (void **) &dGeomGetSpace}, +// {"dGeomGetClass", (void **) &dGeomGetClass}, +// {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits}, +// {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits}, +// {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits}, +// {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits}, +// {"dGeomEnable", (void **) &dGeomEnable}, +// {"dGeomDisable", (void **) &dGeomDisable}, +// {"dGeomIsEnabled", (void **) &dGeomIsEnabled}, +// {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition}, +// {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation}, +// {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion}, +// {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition}, +// {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation}, +// {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion}, +// {"dGeomClearOffset", (void **) &dGeomClearOffset}, +// {"dGeomIsOffset", (void **) &dGeomIsOffset}, +// {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition}, +// {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition}, +// {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation}, +// {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation}, +// {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion}, + {"dCollide", (void **) &dCollide}, + {"dSpaceCollide", (void **) &dSpaceCollide}, + {"dSpaceCollide2", (void **) &dSpaceCollide2}, + {"dCreateSphere", (void **) &dCreateSphere}, +// {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius}, +// {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius}, +// {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth}, +// {"dCreateConvex", (void **) &dCreateConvex}, +// {"dGeomSetConvex", (void **) &dGeomSetConvex}, + {"dCreateBox", (void **) &dCreateBox}, +// {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths}, +// {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths}, +// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth}, +// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth}, +// {"dCreatePlane", (void **) &dCreatePlane}, +// {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams}, +// {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams}, +// {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth}, + {"dCreateCapsule", (void **) &dCreateCapsule}, +// {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams}, +// {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams}, +// {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth}, +// {"dCreateCylinder", (void **) &dCreateCylinder}, +// {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams}, +// {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams}, +// {"dCreateRay", (void **) &dCreateRay}, +// {"dGeomRaySetLength", (void **) &dGeomRaySetLength}, +// {"dGeomRayGetLength", (void **) &dGeomRayGetLength}, +// {"dGeomRaySet", (void **) &dGeomRaySet}, +// {"dGeomRayGet", (void **) &dGeomRayGet}, + {"dCreateGeomTransform", (void **) &dCreateGeomTransform}, + {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom}, +// {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom}, + {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup}, +// {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup}, +// {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo}, +// {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo}, + {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate}, + {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy}, +// {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet}, +// {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet}, +// {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform}, +// {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform}, + {"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle}, +// {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1}, +// {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble}, +// {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1}, +// {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple}, +// {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1}, +// {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess}, +// {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer}, +// {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer}, +// {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback}, +// {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback}, +// {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback}, +// {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback}, +// {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback}, +// {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback}, +// {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback}, +// {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback}, + {"dCreateTriMesh", (void **) &dCreateTriMesh}, +// {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData}, +// {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData}, +// {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC}, +// {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled}, +// {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache}, +// {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID}, +// {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle}, +// {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint}, +// {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount}, +// {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate}, + {NULL, NULL} +}; + +// Handle for ODE DLL +dllhandle_t ode_dll = NULL; +#endif +#endif -loc0: -// touch linked edicts - for (l = node->trigger_edicts.next ; l != &node->trigger_edicts ; l = next) +static void World_Physics_Init(void) +{ +#ifdef USEODE +#ifdef ODE_DYNAMIC + const char* dllnames [] = { - next = l->next; - touch = EDICT_FROM_AREA(l); - if (touch == ent) - continue; - if (!touch->v.touch || touch->v.solid != SOLID_TRIGGER) - continue; - if (ent->v.absmin[0] > touch->v.absmax[0] - || ent->v.absmin[1] > touch->v.absmax[1] - || ent->v.absmin[2] > touch->v.absmax[2] - || ent->v.absmax[0] < touch->v.absmin[0] - || ent->v.absmax[1] < touch->v.absmin[1] - || ent->v.absmax[2] < touch->v.absmin[2]) - continue; - old_self = pr_global_struct->self; - old_other = pr_global_struct->other; - - 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, ""); - - pr_global_struct->self = old_self; - pr_global_struct->other = old_other; - } - -// recurse down both sides - if (node->axis == -1) - return; +# if defined(WIN64) + "libode1_64.dll", +# elif defined(WIN32) + "libode1.dll", +# elif defined(MACOSX) + "libode.1.dylib", +# else + "libode.so.1", +# endif + NULL + }; +#endif - // LordHavoc: optimized recursion -// if (ent->v.absmax[node->axis] > node->dist) SV_TouchLinks (ent, node->children[0]); -// if (ent->v.absmin[node->axis] < node->dist) SV_TouchLinks (ent, node->children[1]); - if (ent->v.absmax[node->axis] > node->dist) - { - if (ent->v.absmin[node->axis] < node->dist) - SV_TouchLinks(ent, node->children[1]); // order reversed to reduce code - node = node->children[0]; - goto loc0; - } - else + Cvar_RegisterVariable(&physics_ode_quadtree_depth); + Cvar_RegisterVariable(&physics_ode_contactsurfacelayer); + Cvar_RegisterVariable(&physics_ode_worldquickstep); + Cvar_RegisterVariable(&physics_ode_worldquickstep_iterations); + Cvar_RegisterVariable(&physics_ode_worldstepfast); + Cvar_RegisterVariable(&physics_ode_worldstepfast_iterations); + Cvar_RegisterVariable(&physics_ode_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_iterationsperframe); + Cvar_RegisterVariable(&physics_ode_movelimit); + Cvar_RegisterVariable(&physics_ode_spinlimit); + +#ifdef ODE_DYNAMIC + // Load the DLL + if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs)) +#endif { - if (ent->v.absmin[node->axis] < node->dist) + dInitODE(); +// dInitODE2(0); +#ifdef ODE_DNYAMIC +# ifdef dSINGLE + if (!dCheckConfiguration("ODE_single_precision")) +# else + if (!dCheckConfiguration("ODE_double_precision")) +# endif { - node = node->children[1]; - goto loc0; +# 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; } +#endif } +#endif } - -/* -=============== -SV_LinkEdict - -=============== -*/ -void SV_LinkEdict (edict_t *ent, qboolean touch_triggers) +static void World_Physics_Shutdown(void) { - areanode_t *node; - - if (ent->area.prev) - SV_UnlinkEdict (ent); // unlink from old position - - if (ent == sv.edicts) - return; // don't add the world - - if (ent->free) - return; - -// set the abs box - -// LordHavoc: enabling rotating bmodels - if (ent->v.solid == SOLID_BSP && (ent->v.angles[0] || ent->v.angles[1] || ent->v.angles[2])) - { - // expand for rotation - float max, v; - int i; - - max = DotProduct(ent->v.mins, ent->v.mins); - v = DotProduct(ent->v.maxs, ent->v.maxs); - if (max < v) - max = v; - max = sqrt(max); - /* - max = 0; - for (i=0 ; i<3 ; i++) - { - v = fabs(ent->v.mins[i]); - if (max < v) - max = v; - v = fabs(ent->v.maxs[i]); - if (max < v) - max = v; - } - */ - for (i=0 ; i<3 ; i++) - { - ent->v.absmin[i] = ent->v.origin[i] - max; - ent->v.absmax[i] = ent->v.origin[i] + max; - } - } - else +#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) - { - ent->v.absmin[0] -= 15; - ent->v.absmin[1] -= 15; - ent->v.absmax[0] += 15; - ent->v.absmax[1] += 15; - } - 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; - } +#ifdef USEODE +static void World_Physics_EnableODE(world_t *world) +{ + dVector3 center, extents; + if (world->physics.ode) + return; +#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); + if(physics_ode_world_erp.value >= 0) + dWorldSetERP(world->physics.ode_world, physics_ode_world_erp.value); + if(physics_ode_world_cfm.value >= 0) + dWorldSetCFM(world->physics.ode_world, physics_ode_world_cfm.value); +} +#endif - if (ent->v.solid == SOLID_NOT) +static void World_Physics_Start(world_t *world) +{ +#ifdef USEODE + if (world->physics.ode) return; + World_Physics_EnableODE(world); +#endif +} -// find the first node that the ent's box crosses - node = sv_areanodes; - while (1) +static void World_Physics_End(world_t *world) +{ +#ifdef USEODE + if (world->physics.ode) { - if (node->axis == -1) - break; - if (ent->v.absmin[node->axis] > node->dist) - node = node->children[0]; - else if (ent->v.absmax[node->axis] < node->dist) - node = node->children[1]; - else - break; // crosses the node + dWorldDestroy(world->physics.ode_world); + dSpaceDestroy(world->physics.ode_space); + dJointGroupDestroy(world->physics.ode_contactgroup); + world->physics.ode = false; } - -// link it in - - if (ent->v.solid == SOLID_TRIGGER) - InsertLinkBefore (&ent->area, &node->trigger_edicts); - else - InsertLinkBefore (&ent->area, &node->solid_edicts); - -// if touch_triggers, touch all entities at this node and descend for more - if (touch_triggers) - SV_TouchLinks ( ent, sv_areanodes ); +#endif } - - -/* -=============================================================================== - -POINT TESTING IN HULLS - -=============================================================================== -*/ - -/* -================== -SV_HullPointContents - -================== -*/ -int SV_HullPointContents (hull_t *hull, int num, vec3_t p) +void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed) { - while (num >= 0) - num = hull->clipnodes[num].children[(hull->planes[hull->clipnodes[num].planenum].type < 3 ? p[hull->planes[hull->clipnodes[num].planenum].type] : DotProduct (hull->planes[hull->clipnodes[num].planenum].normal, p)) < hull->planes[hull->clipnodes[num].planenum].dist]; - - return num; + 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 } -/* -============ -SV_TestEntityPosition - -This could be a lot more efficient... -============ -*/ -edict_t *SV_TestEntityPosition (edict_t *ent) +void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed) { - trace_t trace; - - trace = SV_Move (ent->v.origin, ent->v.mins, ent->v.maxs, ent->v.origin, MOVE_NORMAL, ent); - - if (trace.startsolid) - return sv.edicts; - - return NULL; + // entity is not physics controlled, free any physics data + prvm_edict_t *ed2; + ed->priv.server->ode_physics = false; +#ifdef USEODE + if (ed->priv.server->ode_geom) + dGeomDestroy((dGeomID)ed->priv.server->ode_geom); + ed->priv.server->ode_geom = NULL; + if (ed->priv.server->ode_body) + { + dJointID j; + dBodyID b1, b2; + 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; } +#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; + prvm_eval_t *val; + 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; + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype); + movetype = (int)val->_float; + if (movetype != MOVETYPE_PHYSICS) + { + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float; + 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; + } + 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])); -/* -=============================================================================== - -LINE TESTING IN HULLS - -=============================================================================== -*/ - -// 1/32 epsilon to keep floating point happy -#define DIST_EPSILON (0.03125) - -#define HULLCHECKSTATE_EMPTY 0 -#define HULLCHECKSTATE_SOLID 1 -#define HULLCHECKSTATE_DONE 2 + { + 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; + } -// LordHavoc: FIXME: this is not thread safe, if threading matters here, pass -// this as a struct to RecursiveHullCheck, RecursiveHullCheck_Impact, etc... -RecursiveHullCheckTraceInfo_t RecursiveHullCheckInfo; -#define RHC RecursiveHullCheckInfo + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector); + //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector); + //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector); + //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector); + //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(angles, val->vector); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(avelocity, val->vector); + + // 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); +} -void SV_RecursiveHullCheck_Impact (mplane_t *plane, int side) +static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed) { - // LordHavoc: using doubles for extra accuracy - double t1, t2, frac; - - // LordHavoc: now that we have found the impact, recalculate the impact - // point from scratch for maximum accuracy, with an epsilon bias on the - // surface distance - frac = plane->dist; - if (side) + 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; + prvm_eval_t *val; + VectorClear(origin); + VectorClear(velocity); + VectorClear(angles); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float; + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float; + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.enemy);if (val) enemy = val->_int; + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.aiment);if (val) aiment = val->_int; + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles); + 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; + 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) + return; // nothing to do + AngleVectorsFLU(angles, forward, left, up); + switch(jointtype) { - frac -= DIST_EPSILON; - VectorNegate (plane->normal, RHC.trace->plane.normal); - RHC.trace->plane.dist = -plane->dist; + case JOINTTYPE_POINT: + j = dJointCreateBall(world->physics.ode_world, 0); + break; + case JOINTTYPE_HINGE: + j = dJointCreateHinge(world->physics.ode_world, 0); + break; + case JOINTTYPE_SLIDER: + j = dJointCreateSlider(world->physics.ode_world, 0); + break; + case JOINTTYPE_UNIVERSAL: + j = dJointCreateUniversal(world->physics.ode_world, 0); + break; + case JOINTTYPE_HINGE2: + j = dJointCreateHinge2(world->physics.ode_world, 0); + break; + case 0: + default: + // no joint + j = 0; + break; } - else + 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); + if(j) { - frac += DIST_EPSILON; - VectorCopy (plane->normal, RHC.trace->plane.normal); - RHC.trace->plane.dist = plane->dist; + 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]); + break; + case JOINTTYPE_SLIDER: + dJointSetSliderAxis(j, forward[0], forward[1], forward[2]); + 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]); + 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]); + break; + case 0: + default: + Host_Error("what? but above the joint was valid...\n"); + break; + } } +} - if (plane->type < 3) +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; + 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; + prvm_eval_t *val; + 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; +#ifdef ODE_DYNAMIC + if (!ode_dll) + return; +#endif + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);if (val) solid = (int)val->_float; + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float; + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val && val->_float) scale = val->_float; + modelindex = 0; + switch(solid) { - t1 = RHC.start[plane->type] - frac; - t2 = RHC.start[plane->type] + RHC.dist[plane->type] - frac; + case SOLID_BSP: + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex); + if (val) + modelindex = (int)val->_float; + if (world == &sv.world && modelindex >= 1 && modelindex < MAX_MODELS) + { + model = sv.models[modelindex]; + mempool = sv_mempool; + } + else if (world == &cl.world && modelindex >= 1 && modelindex < MAX_MODELS) + { + model = cl.model_precache[modelindex]; + mempool = cls.levelmempool; + } + else + { + model = NULL; + mempool = NULL; + modelindex = 0; + } + if (model) + { + VectorScale(model->normalmins, scale, entmins); + VectorScale(model->normalmaxs, scale, entmaxs); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float; + } + else + { + modelindex = 0; + massval = 1.0f; + } + break; + case SOLID_BBOX: + //case SOLID_SLIDEBOX: + case SOLID_CORPSE: + case SOLID_PHYSICS_BOX: + case SOLID_PHYSICS_SPHERE: + case SOLID_PHYSICS_CAPSULE: + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mins);if (val) VectorCopy(val->vector, entmins); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.maxs);if (val) VectorCopy(val->vector, entmaxs); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float; + break; + default: + if (ed->priv.server->ode_physics) + World_Physics_RemoveFromEntity(world, ed); + return; } - else + + VectorSubtract(entmaxs, entmins, geomsize); + if (VectorLength2(geomsize) == 0) { - t1 = plane->normal[0] * RHC.start[0] + plane->normal[1] * RHC.start[1] + plane->normal[2] * RHC.start[2] - frac; - t2 = plane->normal[0] * (RHC.start[0] + RHC.dist[0]) + plane->normal[1] * (RHC.start[1] + RHC.dist[1]) + plane->normal[2] * (RHC.start[2] + RHC.dist[2]) - frac; + // we don't allow point-size physics objects... + if (ed->priv.server->ode_physics) + World_Physics_RemoveFromEntity(world, ed); + return; } - frac = t1 / (t1 - t2); - frac = bound(0.0f, frac, 1.0); - - RHC.trace->fraction = frac; - RHC.trace->endpos[0] = RHC.start[0] + frac * RHC.dist[0]; - RHC.trace->endpos[1] = RHC.start[1] + frac * RHC.dist[1]; - RHC.trace->endpos[2] = RHC.start[2] + frac * RHC.dist[2]; -} + if (movetype != MOVETYPE_PHYSICS) + massval = 1.0f; -int SV_RecursiveHullCheck (int num, double p1f, double p2f, double p1[3], double p2[3]) -{ - dclipnode_t *node; - int side; - double midf, mid[3]; - // LordHavoc: FIXME: this is not thread safe... if threading matters here, - // remove the static prefixes - static int ret; - static mplane_t *plane; - static double t1, t2, frac; - - // LordHavoc: a goto! everyone flee in terror... :) -loc0: - // check for empty - if (num < 0) + // 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) { - RHC.trace->endcontents = num; - if (RHC.trace->startcontents) + 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) { - if (num == RHC.trace->startcontents) - RHC.trace->allsolid = false; - else - { - // if the first leaf is solid, set startsolid - if (RHC.trace->allsolid) - RHC.trace->startsolid = true; - return HULLCHECKSTATE_SOLID; - } - return HULLCHECKSTATE_EMPTY; + if (movetype == MOVETYPE_PHYSICS) + Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string)); + massval = 1.0f; + VectorSet(geomsize, 1.0f, 1.0f, 1.0f); } - else + + switch(solid) { - if (num != CONTENTS_SOLID) + case SOLID_BSP: + ed->priv.server->ode_offsetmatrix = identitymatrix; + if (!model) { - RHC.trace->allsolid = false; - if (num == CONTENTS_EMPTY) - RHC.trace->inopen = true; - else - RHC.trace->inwater = true; + Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string)); + break; } - else + // 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_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string)); + break; + } + // ODE requires persistent mesh storage, so we need to copy out + // the data from the model because renderer restarts could free it + // during the game, additionally we need to flip the triangles... + // note: ODE does preprocessing of the mesh for culling, removing + // concave edges, etc., so this is not a lightweight operation + ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts; + ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3])); + 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) { - // if the first leaf is solid, set startsolid - if (RHC.trace->allsolid) - RHC.trace->startsolid = true; - return HULLCHECKSTATE_SOLID; + oe[0] = ie[2]; + oe[1] = ie[1]; + oe[2] = ie[0]; } - return HULLCHECKSTATE_EMPTY; + Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); + // now create the geom + dataID = dGeomTriMeshDataCreate(); + dGeomTriMeshDataBuildSingle(dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3])); + ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world)); + ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL); + dGeomSetBody(ed->priv.server->ode_geom, body); + dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); + break; + case SOLID_BBOX: + case SOLID_SLIDEBOX: + case SOLID_CORPSE: + case SOLID_PHYSICS_BOX: + Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); + ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world)); + ed->priv.server->ode_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]); + dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); + dGeomSetBody(ed->priv.server->ode_geom, body); + dBodySetMass(body, &mass); + break; + case SOLID_PHYSICS_SPHERE: + Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); + ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world)); + ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f); + dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f); + dGeomSetBody(ed->priv.server->ode_geom, body); + dBodySetMass(body, &mass); + dBodySetData(body, (void*)ed); + break; + case SOLID_PHYSICS_CAPSULE: + 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_body = (void *)(body = dBodyCreate(world->physics.ode_world)); + ed->priv.server->ode_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length); + dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length); + dGeomSetBody(ed->priv.server->ode_geom, body); + dBodySetMass(body, &mass); + break; + default: + Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid); } + Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix); } - // find the point distances - node = RHC.hull->clipnodes + num; - - plane = RHC.hull->planes + node->planenum; - if (plane->type < 3) + // get current data from entity + VectorClear(origin); + VectorClear(velocity); + //VectorClear(forward); + //VectorClear(left); + //VectorClear(up); + //VectorClear(spinvelocity); + VectorClear(angles); + VectorClear(avelocity); + gravity = true; + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity); + //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward); + //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left); + //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up); + //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(val->vector, avelocity); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.gravity);if (val) { if(val->_float != 0.0f && val->_float < 0.5f) gravity = false; } + if(ed == prog->edicts) + gravity = false; + + // compatibility for legacy entities + //if (!VectorLength2(forward) || solid == SOLID_BSP) { - t1 = p1[plane->type] - plane->dist; - t2 = p2[plane->type] - plane->dist; + AngleVectorsFLU(angles, forward, left, up); + // convert single-axis rotations in avelocity to spinvelocity + // FIXME: untested math - check signs + VectorSet(spinvelocity, DEG2RAD(avelocity[PITCH]), DEG2RAD(avelocity[ROLL]), DEG2RAD(avelocity[YAW])); } - else + + // compatibility for legacy entities + switch (solid) { - t1 = DotProduct (plane->normal, p1) - plane->dist; - t2 = DotProduct (plane->normal, p2) - plane->dist; + 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; } - // LordHavoc: rearranged the side/frac code - if (t1 >= 0) + + // we must prevent NANs... + test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity); + if (IS_NAN(test)) { - if (t2 >= 0) + modified = true; + //Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]); + Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]); + test = VectorLength2(origin); + if (IS_NAN(test)) + VectorClear(origin); + test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up); + if (IS_NAN(test)) { - num = node->children[0]; - goto loc0; + VectorSet(angles, 0, 0, 0); + VectorSet(forward, 1, 0, 0); + VectorSet(left, 0, 1, 0); + VectorSet(up, 0, 0, 1); } - // put the crosspoint DIST_EPSILON pixels on the near side - side = 0; - } - else - { - if (t2 < 0) + test = VectorLength2(velocity); + if (IS_NAN(test)) + VectorClear(velocity); + test = VectorLength2(spinvelocity); + if (IS_NAN(test)) { - num = node->children[1]; - goto loc0; + VectorClear(avelocity); + VectorClear(spinvelocity); } - // put the crosspoint DIST_EPSILON pixels on the near side - side = 1; } - frac = t1 / (t1 - t2); - frac = bound(0.0f, frac, 1.0); + // limit movement speed to prevent missed collisions at high speed + movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit; + test = VectorLength2(velocity); + if (test > movelimit*movelimit) + { + modified = true; + // scale down linear velocity to the movelimit + // scale down angular velocity the same amount for consistency + f = movelimit / sqrt(test); + VectorScale(velocity, f, velocity); + VectorScale(avelocity, f, avelocity); + VectorScale(spinvelocity, f, spinvelocity); + } - midf = p1f + ((p2f - p1f) * frac); - mid[0] = RHC.start[0] + midf * RHC.dist[0]; - mid[1] = RHC.start[1] + midf * RHC.dist[1]; - mid[2] = RHC.start[2] + midf * RHC.dist[2]; + // make sure the angular velocity is not exploding + spinlimit = physics_ode_spinlimit.value; + test = VectorLength2(spinvelocity); + if (test > spinlimit) + { + modified = true; + VectorClear(avelocity); + VectorClear(spinvelocity); + } - // front side first - ret = SV_RecursiveHullCheck (node->children[side], p1f, midf, p1, mid); - if (ret != HULLCHECKSTATE_EMPTY) - return ret; // solid or done - ret = SV_RecursiveHullCheck (node->children[!side], midf, p2f, mid, p2); - if (ret != HULLCHECKSTATE_SOLID) - return ret; // empty or done + // 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 = ed->priv.server->ode_body; + if (body && modified) + { + dVector3 r[3]; + matrix4x4_t entitymatrix; + matrix4x4_t bodymatrix; - // front is air and back is solid, this is the impact point... - SV_RecursiveHullCheck_Impact(RHC.hull->planes + node->planenum, side); + { + 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; + } - return HULLCHECKSTATE_DONE; + 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]; + dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_body); + dBodySetPosition(body, origin[0], origin[1], origin[2]); + dBodySetRotation(body, r[0]); + dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]); + dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]); + dBodySetGravityMode(body, gravity); + dBodySetData(body, (void*)ed); + // setting body to NULL makes an immovable object + if (movetype != MOVETYPE_PHYSICS) + dGeomSetBody(ed->priv.server->ode_geom, 0); + } } -/* -================== -SV_ClipMoveToEntity - -Handles selection or creation of a clipping hull, and offseting (and -eventually rotation) of the end points -================== -*/ -trace_t SV_ClipMoveToEntity (edict_t *ent, vec3_t start, vec3_t mins, vec3_t maxs, vec3_t end) +#define MAX_CONTACTS 16 +static void nearCallback (void *data, dGeomID o1, dGeomID o2) { - trace_t trace; - vec3_t offset, forward, left, up; - double startd[3], endd[3], tempd[3]; - hull_t *hull; - -// fill in a default trace - memset (&trace, 0, sizeof(trace_t)); - trace.fraction = 1; - trace.allsolid = true; - -// get the clipping hull - hull = SV_HullForEntity (ent, mins, maxs, offset); - - VectorSubtract(start, offset, startd); - VectorSubtract(end, offset, endd); - - // rotate start and end into the models frame of reference - if (ent->v.solid == SOLID_BSP && (ent->v.angles[0] || ent->v.angles[1] || ent->v.angles[2])) + 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; + prvm_eval_t *val; + 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 *ed; + + if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) { - AngleVectorsFLU (ent->v.angles, forward, left, up); - VectorCopy(startd, tempd); - startd[0] = DotProduct (tempd, forward); - startd[1] = DotProduct (tempd, left); - startd[2] = DotProduct (tempd, up); - VectorCopy(endd, tempd); - endd[0] = DotProduct (tempd, forward); - endd[1] = DotProduct (tempd, left); - endd[2] = DotProduct (tempd, up); + // 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; } - VectorCopy(end, trace.endpos); + b1 = dGeomGetBody(o1); + b2 = dGeomGetBody(o2); -// trace a line through the appropriate clipping hull - VectorCopy(startd, RecursiveHullCheckInfo.start); - VectorSubtract(endd, startd, RecursiveHullCheckInfo.dist); - RecursiveHullCheckInfo.hull = hull; - RecursiveHullCheckInfo.trace = &trace; - SV_RecursiveHullCheck (hull->firstclipnode, 0, 1, startd, endd); + // 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; - // if we hit, unrotate endpos and normal, and store the entity we hit - if (trace.fraction != 1) + if(b1) { - // rotate endpos back to world frame of reference - if (ent->v.solid == SOLID_BSP && (ent->v.angles[0] || ent->v.angles[1] || ent->v.angles[2])) + ed = (prvm_edict_t *) dBodyGetData(b1); + if(ed) { - VectorNegate (ent->v.angles, offset); - AngleVectorsFLU (offset, forward, left, up); - - VectorCopy (trace.endpos, tempd); - trace.endpos[0] = DotProduct (tempd, forward); - trace.endpos[1] = DotProduct (tempd, left); - trace.endpos[2] = DotProduct (tempd, up); - - VectorCopy (trace.plane.normal, tempd); - trace.plane.normal[0] = DotProduct (tempd, forward); - trace.plane.normal[1] = DotProduct (tempd, left); - trace.plane.normal[2] = DotProduct (tempd, up); + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor); + if (val!=0 && val->_float) + bouncefactor1 = val->_float; + + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop); + if (val!=0 && val->_float) + bouncestop1 = val->_float; } - // fix offset - VectorAdd (trace.endpos, offset, trace.endpos); - trace.ent = ent; } - else if (trace.allsolid || trace.startsolid) - trace.ent = ent; - - return trace; -} - -//=========================================================================== - -/* -==================== -SV_ClipToLinks - -Mins and maxs enclose the entire area swept by the move -==================== -*/ -void SV_ClipToLinks ( areanode_t *node, moveclip_t *clip ) -{ - link_t *l, *next; - edict_t *touch; - trace_t trace; -loc0: - if (clip->trace.allsolid) - return; -// touch linked edicts - for (l = node->solid_edicts.next ; l != &node->solid_edicts ; l = next) + if(b2) { - next = l->next; - touch = EDICT_FROM_AREA(l); - if (touch->v.solid == SOLID_NOT) - continue; - if (touch == clip->passedict) - continue; - if (touch->v.solid == SOLID_TRIGGER) - Host_Error ("Trigger in clipping list"); - - if (clip->type == MOVE_NOMONSTERS && touch->v.solid != SOLID_BSP) - continue; - - if (clip->boxmins[0] > touch->v.absmax[0] - || clip->boxmaxs[0] < touch->v.absmin[0] - || clip->boxmins[1] > touch->v.absmax[1] - || clip->boxmaxs[1] < touch->v.absmin[1] - || clip->boxmins[2] > touch->v.absmax[2] - || clip->boxmaxs[2] < touch->v.absmin[2]) - continue; - - if (clip->passedict) + ed = (prvm_edict_t *) dBodyGetData(b2); + if(ed) { - if (clip->passedict->v.size[0] && !touch->v.size[0]) - continue; // points never interact - if (PROG_TO_EDICT(touch->v.owner) == clip->passedict) - continue; // don't clip against own missiles - if (PROG_TO_EDICT(clip->passedict->v.owner) == touch) - continue; // don't clip against owner - // LordHavoc: corpse code - if (clip->passedict->v.solid == SOLID_CORPSE && touch->v.solid == SOLID_SLIDEBOX) - continue; - if (clip->passedict->v.solid == SOLID_SLIDEBOX && touch->v.solid == SOLID_CORPSE) - continue; + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor); + if (val!=0 && val->_float) + bouncefactor2 = val->_float; + + val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop); + if (val!=0 && val->_float) + bouncestop2 = val->_float; } + } - // might interact, so do an exact clip - if ((int)touch->v.flags & FL_MONSTER) - trace = SV_ClipMoveToEntity (touch, clip->start, clip->mins2, clip->maxs2, clip->end); - else - trace = SV_ClipMoveToEntity (touch, clip->start, clip->mins, clip->maxs, clip->end); - if (trace.allsolid) + // merge bounce factors and bounce stop + if(bouncefactor2 > 0) + { + if(bouncefactor1 > 0) { - clip->trace = trace; - return; + // TODO possibly better logic to merge bounce factor data? + if(bouncestop2 < bouncestop1) + bouncestop1 = bouncestop2; + if(bouncefactor2 > bouncefactor1) + bouncefactor1 = bouncefactor2; } - if (trace.startsolid || trace.fraction < clip->trace.fraction) + else { - if (clip->trace.startsolid) - { - clip->trace = trace; - clip->trace.startsolid = true; - } - else - clip->trace = trace; + bouncestop1 = bouncestop2; + bouncefactor1 = bouncefactor2; } } + dWorldGetGravity(world->physics.ode_world, grav); + bouncestop1 *= fabs(grav[2]); -// recurse down both sides - if (node->axis == -1) - return; - - // LordHavoc: optimized recursion -// if (clip->boxmaxs[node->axis] > node->dist) SV_ClipToLinks(node->children[0], clip); -// if (clip->boxmins[node->axis] < node->dist) SV_ClipToLinks(node->children[1], clip); - if (clip->boxmaxs[node->axis] > node->dist) - { - if (clip->boxmins[node->axis] < node->dist) - SV_ClipToLinks(node->children[1], clip); - node = node->children[0]; - goto loc0; - } - else if (clip->boxmins[node->axis] < node->dist) + // 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++) { - node = node->children[1]; - goto loc0; + 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(world->physics.ode_world, world->physics.ode_contactgroup, contact + i); + dJointAttach(c, b1, b2); } } +#endif - -/* -================== -SV_MoveBounds -================== -*/ -void SV_MoveBounds (vec3_t start, vec3_t mins, vec3_t maxs, vec3_t end, vec3_t boxmins, vec3_t boxmaxs) +void World_Physics_Frame(world_t *world, double frametime, double gravity) { -#if 0 -// debug to test against everything -boxmins[0] = boxmins[1] = boxmins[2] = -9999; -boxmaxs[0] = boxmaxs[1] = boxmaxs[2] = 9999; -#else - int i; - - for (i=0 ; i<3 ; i++) +#ifdef USEODE + if (world->physics.ode) { - if (end[i] > start[i]) - { - boxmins[i] = start[i] + mins[i] - 1; - boxmaxs[i] = end[i] + maxs[i] + 1; - } - else + int i; + prvm_edict_t *ed; + + // copy physics properties from entities to physics engine + if (prog) { - boxmins[i] = end[i] + mins[i] - 1; - boxmaxs[i] = start[i] + maxs[i] + 1; + 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); } - } -#endif -} -/* -================== -SV_Move -================== -*/ -trace_t SV_Move (vec3_t start, vec3_t mins, vec3_t maxs, vec3_t end, int type, edict_t *passedict) -{ - moveclip_t clip; - int i; + world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000); + world->physics.ode_step = frametime / world->physics.ode_iterations; + world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step; + for (i = 0;i < world->physics.ode_iterations;i++) + { + // set the gravity + dWorldSetGravity(world->physics.ode_world, 0, 0, -gravity); + // set the tolerance for closeness of objects + dWorldSetContactSurfaceLayer(world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value)); - memset ( &clip, 0, sizeof ( moveclip_t ) ); + // run collisions for the current world state, creating JointGroup + dSpaceCollide(world->physics.ode_space, (void *)world, nearCallback); - clip.start = start; - clip.end = end; - clip.mins = mins; - clip.maxs = maxs; - clip.type = type; - clip.passedict = passedict; + // run physics (move objects, calculate new velocities) + if (physics_ode_worldquickstep.integer) + { + dWorldSetQuickStepNumIterations(world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200)); + dWorldQuickStep(world->physics.ode_world, world->physics.ode_step); + } + else if (physics_ode_worldstepfast.integer) + dWorldStepFast1(world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstepfast_iterations.integer, 200)); + else + dWorldStep(world->physics.ode_world, world->physics.ode_step); - if (type == MOVE_MISSILE) - { - for (i=0 ; i<3 ; i++) - { - clip.mins2[i] = -15; - clip.maxs2[i] = 15; + // clear the JointGroup now that we're done with it + dJointGroupEmpty(world->physics.ode_contactgroup); } - } - else - { - VectorCopy (clip.mins, clip.mins2); - VectorCopy (clip.maxs, clip.maxs2); - } - // clip to world - clip.trace = SV_ClipMoveToEntity (sv.edicts, start, mins, maxs, end); - - // clip to entities - if (!clip.trace.allsolid) - { - // create the bounding box of the entire move - SV_MoveBounds ( start, clip.mins2, clip.maxs2, end, clip.boxmins, clip.boxmaxs ); - - SV_ClipToLinks ( sv_areanodes, &clip ); + // copy physics properties from physics engine to entities + if (prog) + for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) + if (!prog->edicts[i].priv.required->free && PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype)->_float == MOVETYPE_PHYSICS) + World_Physics_Frame_BodyToEntity(world, ed); } - - return clip.trace; +#endif }