X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=world.c;h=c62a83fa7eeeec1b9eadf9c10ec6cf660e19b790;hp=ec767e0415335322b39ccf87da497a7f9c12f1e9;hb=f070d358e31542df4f016558be6bf30dfb07aa84;hpb=bb74c5a48f2b4962b8f343bf7c0187fac67c1ac1 diff --git a/world.c b/world.c index ec767e04..c62a83fa 100644 --- a/world.c +++ b/world.c @@ -102,13 +102,14 @@ World_SetSize =============== */ -void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs) +void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs, prvm_prog_t *prog) { int i; strlcpy(world->filename, filename, sizeof(world->filename)); VectorCopy(mins, world->mins); VectorCopy(maxs, world->maxs); + world->prog = prog; // the areagrid_marknumber is not allowed to be 0 if (world->areagrid_marknumber < 1) @@ -144,6 +145,7 @@ World_UnlinkAll */ void World_UnlinkAll(world_t *world) { + prvm_prog_t *prog = world->prog; int i; link_t *grid; // unlink all entities one by one @@ -175,6 +177,7 @@ void World_UnlinkEdict(prvm_edict_t *ent) int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t requestmaxs, int maxlist, prvm_edict_t **list) { + prvm_prog_t *prog = world->prog; int numlist; link_t *grid; link_t *l; @@ -182,8 +185,15 @@ int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t r vec3_t paddedmins, paddedmaxs; int igrid[3], igridmins[3], igridmaxs[3]; - VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f); - VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f); + // avoid crash in showtex code on level change + if (prog == NULL || prog->num_edicts < 1) + return 0; + + // LordHavoc: discovered this actually causes its own bugs (dm6 teleporters being too close to info_teleport_destination) + //VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f); + //VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f); + VectorCopy(requestmins, paddedmins); + VectorCopy(requestmaxs, paddedmaxs); // FIXME: if areagrid_marknumber wraps, all entities need their // ent->priv.server->areagridmarknumber reset @@ -208,7 +218,7 @@ int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t r numlist = 0; // add entities not linked into areagrid because they are too big or // outside the grid bounds - if (world->areagrid_outside.next != &world->areagrid_outside) + if (world->areagrid_outside.next) { grid = &world->areagrid_outside; for (l = grid->next;l != grid;l = l->next) @@ -233,7 +243,7 @@ int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t r grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0]; for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++) { - if (grid->next != grid) + if (grid->next) { for (l = grid->next;l != grid;l = l->next) { @@ -257,8 +267,9 @@ int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t r return numlist; } -void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent) +static void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent) { + prvm_prog_t *prog = world->prog; link_t *grid; int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent); @@ -298,6 +309,7 @@ World_LinkEdict */ void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs) { + prvm_prog_t *prog = world->prog; // unlink from old position first if (ent->priv.server->areagrid[0].prev) World_UnlinkEdict(ent); @@ -322,51 +334,42 @@ void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const // physics engine support //============================================================================ -#ifndef ODE_STATIC -# define ODE_DYNAMIC 1 -#endif - -#if defined(ODE_STATIC) || defined(ODE_DYNAMIC) -#define USEODE 1 -#endif - -// recent ODE trunk has dWorldStepFast1 removed -//#define ODE_USE_STEPFAST - #ifdef USEODE cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"}; +cvar_t physics_ode_allowconvex = {0, "physics_ode_allowconvex", "0", "allow usage of Convex Hull primitive type on trimeshes that have custom 'collisionconvex' mesh. If disabled, trimesh primitive type are used."}; cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"}; -cvar_t physics_ode_worldstep = {0, "physics_ode_worldstep","2", "step function to use, 0 - dWorldStep, 1 - dWorldStepFast1, 2 - dWorldQuickStep"}; -cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep and dWorldStepFast1"}; +cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep"}; cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"}; cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"}; cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"}; +cvar_t physics_ode_contact_maxpoints = {0, "physics_ode_contact_maxpoints", "16", "maximal number of contact points between 2 objects, higher = stable (and slower), can be up to 32"}; cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"}; cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"}; cvar_t physics_ode_world_damping = {0, "physics_ode_world_damping", "1", "enabled damping scale (see ODE User Guide), this scales all damping values, be aware that behavior depends of step type"}; -cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear", "0.005", "world linear damping scale (see ODE User Guide); use defaults when set to -1"}; -cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.01", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"}; -cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.005", "world angular damping scale (see ODE User Guide); use defaults when set to -1"}; -cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.01", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"}; +cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear", "0.01", "world linear damping scale (see ODE User Guide); use defaults when set to -1"}; +cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.1", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"}; +cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.05", "world angular damping scale (see ODE User Guide); use defaults when set to -1"}; +cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.1", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"}; cvar_t physics_ode_world_gravitymod = {0, "physics_ode_world_gravitymod", "1", "multiplies gravity got from sv_gravity, this may be needed to tweak if strong damping is used"}; cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"}; -cvar_t physics_ode_constantstep = {0, "physics_ode_constantstep", "1", "use constant step (sys_ticrate value) instead of variable step which tends to increase stability"}; +cvar_t physics_ode_constantstep = {0, "physics_ode_constantstep", "0", "use constant step instead of variable step which tends to increase stability, if set to 1 uses sys_ticrate, instead uses it's own value"}; cvar_t physics_ode_autodisable = {0, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"}; cvar_t physics_ode_autodisable_steps = {0, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"}; cvar_t physics_ode_autodisable_time = {0, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"}; -cvar_t physics_ode_autodisable_threshold_linear = {0, "physics_ode_autodisable_threshold_linear", "0.2", "body will be disabled if it's linear move below this value"}; -cvar_t physics_ode_autodisable_threshold_angular = {0, "physics_ode_autodisable_threshold_angular", "0.3", "body will be disabled if it's angular move below this value"}; +cvar_t physics_ode_autodisable_threshold_linear = {0, "physics_ode_autodisable_threshold_linear", "0.6", "body will be disabled if it's linear move below this value"}; +cvar_t physics_ode_autodisable_threshold_angular = {0, "physics_ode_autodisable_threshold_angular", "6", "body will be disabled if it's angular move below this value"}; cvar_t physics_ode_autodisable_threshold_samples = {0, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"}; cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls, be aware that behavior depends of step type"}; cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"}; cvar_t physics_ode_trick_fixnan = {0, "physics_ode_trick_fixnan", "1", "engine trick that checks and fixes NaN velocity/origin/angles on objects, a value of 2 makes console prints on each fix"}; cvar_t physics_ode_printstats = {0, "physics_ode_printstats", "0", "print ODE stats each frame"}; + cvar_t physics_ode = {0, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"}; // LordHavoc: this large chunk of definitions comes from the ODE library // include files. -#ifdef ODE_STATIC +#ifdef LINK_TO_LIBODE #include "ode/ode.h" #else #ifdef WINAPI @@ -550,7 +553,7 @@ typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); #define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) #define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) -//const char* (ODE_API *dGetConfiguration)(void); +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); @@ -584,7 +587,7 @@ 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 *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); @@ -595,9 +598,7 @@ void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num); //dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID); void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth); //dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID); -#ifdef ODE_USE_STEPFAST -void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); -#endif +//void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); //void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth); //int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID); //dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID); @@ -660,12 +661,12 @@ 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 *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 *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); @@ -938,7 +939,7 @@ dGeomID (ODE_API *dCreateSphere)(dSpaceID space, 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); +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); @@ -1018,7 +1019,7 @@ dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, d static dllfunction_t odefuncs[] = { -// {"dGetConfiguration", (void **) &dGetConfiguration}, + {"dGetConfiguration", (void **) &dGetConfiguration}, {"dCheckConfiguration", (void **) &dCheckConfiguration}, {"dInitODE", (void **) &dInitODE}, // {"dInitODE2", (void **) &dInitODE2}, @@ -1051,7 +1052,7 @@ static dllfunction_t odefuncs[] = // {"dWorldGetERP", (void **) &dWorldGetERP}, {"dWorldSetCFM", (void **) &dWorldSetCFM}, // {"dWorldGetCFM", (void **) &dWorldGetCFM}, - {"dWorldStep", (void **) &dWorldStep}, +// {"dWorldStep", (void **) &dWorldStep}, // {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce}, {"dWorldQuickStep", (void **) &dWorldQuickStep}, {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations}, @@ -1062,9 +1063,7 @@ static dllfunction_t odefuncs[] = // {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel}, {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer}, // {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer}, -#ifdef ODE_USE_STEPFAST - {"dWorldStepFast1", (void **) &dWorldStepFast1}, -#endif +// {"dWorldStepFast1", (void **) &dWorldStepFast1}, // {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1}, // {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1}, // {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold}, @@ -1127,12 +1126,12 @@ static dllfunction_t odefuncs[] = {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel}, {"dBodySetMass", (void **) &dBodySetMass}, // {"dBodyGetMass", (void **) &dBodyGetMass}, -// {"dBodyAddForce", (void **) &dBodyAddForce}, -// {"dBodyAddTorque", (void **) &dBodyAddTorque}, + {"dBodyAddForce", (void **) &dBodyAddForce}, + {"dBodyAddTorque", (void **) &dBodyAddTorque}, // {"dBodyAddRelForce", (void **) &dBodyAddRelForce}, - {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque}, -// {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos}, - {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos}, +// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque}, + {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos}, +// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos}, // {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos}, // {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos}, // {"dBodyGetForce", (void **) &dBodyGetForce}, @@ -1400,7 +1399,7 @@ static dllfunction_t odefuncs[] = // {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius}, // {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius}, // {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth}, -// {"dCreateConvex", (void **) &dCreateConvex}, + {"dCreateConvex", (void **) &dCreateConvex}, // {"dGeomSetConvex", (void **) &dGeomSetConvex}, {"dCreateBox", (void **) &dCreateBox}, // {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths}, @@ -1475,14 +1474,20 @@ dllhandle_t ode_dll = NULL; static void World_Physics_Init(void) { #ifdef USEODE -#ifdef ODE_DYNAMIC +#ifndef LINK_TO_LIBODE const char* dllnames [] = { # if defined(WIN32) + "libode3.dll", + "libode2.dll", "libode1.dll", # elif defined(MACOSX) + "libode.3.dylib", + "libode.2.dylib", "libode.1.dylib", # else + "libode.so.3", + "libode.so.2", "libode.so.1", # endif NULL @@ -1491,11 +1496,11 @@ static void World_Physics_Init(void) Cvar_RegisterVariable(&physics_ode_quadtree_depth); Cvar_RegisterVariable(&physics_ode_contactsurfacelayer); - Cvar_RegisterVariable(&physics_ode_worldstep); Cvar_RegisterVariable(&physics_ode_worldstep_iterations); Cvar_RegisterVariable(&physics_ode_contact_mu); Cvar_RegisterVariable(&physics_ode_contact_erp); Cvar_RegisterVariable(&physics_ode_contact_cfm); + Cvar_RegisterVariable(&physics_ode_contact_maxpoints); Cvar_RegisterVariable(&physics_ode_world_erp); Cvar_RegisterVariable(&physics_ode_world_cfm); Cvar_RegisterVariable(&physics_ode_world_damping); @@ -1516,16 +1521,17 @@ static void World_Physics_Init(void) Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular); Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples); Cvar_RegisterVariable(&physics_ode_printstats); + Cvar_RegisterVariable(&physics_ode_allowconvex); Cvar_RegisterVariable(&physics_ode); -#ifdef ODE_DYNAMIC +#ifndef LINK_TO_LIBODE // Load the DLL if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs)) #endif { dInitODE(); // dInitODE2(0); -#ifdef ODE_DYNAMIC +#ifndef LINK_TO_LIBODE # ifdef dSINGLE if (!dCheckConfiguration("ODE_single_precision")) # else @@ -1547,6 +1553,7 @@ static void World_Physics_Init(void) # else Con_Printf("ODE library loaded with double precision.\n"); # endif + Con_Printf("ODE configuration list: %s\n", dGetConfiguration()); } #endif } @@ -1556,12 +1563,12 @@ static void World_Physics_Init(void) static void World_Physics_Shutdown(void) { #ifdef USEODE -#ifdef ODE_DYNAMIC +#ifndef LINK_TO_LIBODE if (ode_dll) #endif { dCloseODE(); -#ifdef ODE_DYNAMIC +#ifndef LINK_TO_LIBODE Sys_UnloadLibrary(&ode_dll); ode_dll = NULL; #endif @@ -1613,7 +1620,7 @@ static void World_Physics_EnableODE(world_t *world) dVector3 center, extents; if (world->physics.ode) return; -#ifdef ODE_DYNAMIC +#ifndef LINK_TO_LIBODE if (!ode_dll) return; #endif @@ -1719,9 +1726,9 @@ void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed) void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f) { +#ifdef USEODE dBodyID body = (dBodyID)ed->priv.server->ode_body; -#ifdef USEODE switch(f->type) { case ODEFUNC_ENABLE: @@ -1730,13 +1737,13 @@ void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f) case ODEFUNC_DISABLE: dBodyDisable(body); break; - case ODEFUNC_RELFORCEATPOS: + case ODEFUNC_FORCE: dBodyEnable(body); - dBodyAddForceAtRelPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]); + dBodyAddForceAtPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]); break; - case ODEFUNC_RELTORQUE: + case ODEFUNC_TORQUE: dBodyEnable(body); - dBodyAddRelTorque(body, f->v1[0], f->v1[1], f->v1[2]); + dBodyAddTorque(body, f->v1[0], f->v1[1], f->v1[2]); break; default: break; @@ -1747,6 +1754,7 @@ void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f) #ifdef USEODE static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed) { + prvm_prog_t *prog = world->prog; const dReal *avel; const dReal *o; const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix @@ -1812,13 +1820,13 @@ static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed) { float pitchsign = 1; - if(!strcmp(prog->name, "server")) // FIXME some better way? + if(prog == SVVM_prog) // FIXME some better way? { - pitchsign = SV_GetPitchSign(ed); + pitchsign = SV_GetPitchSign(prog, ed); } - else if(!strcmp(prog->name, "client")) + else if(prog == CLVM_prog) { - pitchsign = CL_GetPitchSign(ed); + pitchsign = CL_GetPitchSign(prog, ed); } angles[PITCH] *= pitchsign; avelocity[PITCH] *= pitchsign; @@ -1840,15 +1848,55 @@ static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed) VectorCopy(avelocity, ed->priv.server->ode_avelocity); ed->priv.server->ode_gravity = dBodyGetGravityMode(body) != 0; - if(!strcmp(prog->name, "server")) // FIXME some better way? + if(prog == SVVM_prog) // FIXME some better way? { SV_LinkEdict(ed); SV_LinkEdict_TouchAreaGrid(ed); } } +static void World_Physics_Frame_ForceFromEntity(world_t *world, prvm_edict_t *ed) +{ + prvm_prog_t *prog = world->prog; + int forcetype = 0, movetype = 0, enemy = 0; + vec3_t movedir, origin; + + movetype = (int)PRVM_gameedictfloat(ed, movetype); + forcetype = (int)PRVM_gameedictfloat(ed, forcetype); + if (movetype == MOVETYPE_PHYSICS) + forcetype = FORCETYPE_NONE; // can't have both + if (!forcetype) + return; + enemy = PRVM_gameedictedict(ed, enemy); + if (enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0) + return; + VectorCopy(PRVM_gameedictvector(ed, movedir), movedir); + VectorCopy(PRVM_gameedictvector(ed, origin), origin); + dBodyEnable((dBodyID)prog->edicts[enemy].priv.server->ode_body); + switch(forcetype) + { + case FORCETYPE_FORCE: + if (movedir[0] || movedir[1] || movedir[2]) + dBodyAddForce((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]); + break; + case FORCETYPE_FORCEATPOS: + if (movedir[0] || movedir[1] || movedir[2]) + dBodyAddForceAtPos((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2], origin[0], origin[1], origin[2]); + break; + case FORCETYPE_TORQUE: + if (movedir[0] || movedir[1] || movedir[2]) + dBodyAddTorque((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]); + break; + case FORCETYPE_NONE: + default: + // bad force + break; + } +} + static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed) { + prvm_prog_t *prog = world->prog; dJointID j = 0; dBodyID b1 = 0; dBodyID b2 = 0; @@ -1857,12 +1905,13 @@ static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed int enemy = 0, aiment = 0; vec3_t origin, velocity, angles, forward, left, up, movedir; vec_t CFM, ERP, FMax, Stop, Vel; + + movetype = (int)PRVM_gameedictfloat(ed, movetype); + jointtype = (int)PRVM_gameedictfloat(ed, jointtype); VectorClear(origin); VectorClear(velocity); VectorClear(angles); VectorClear(movedir); - movetype = (int)PRVM_gameedictfloat(ed, movetype); - jointtype = (int)PRVM_gameedictfloat(ed, jointtype); enemy = PRVM_gameedictedict(ed, enemy); aiment = PRVM_gameedictedict(ed, aiment); VectorCopy(PRVM_gameedictvector(ed, origin), origin); @@ -1870,7 +1919,7 @@ static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed VectorCopy(PRVM_gameedictvector(ed, angles), angles); VectorCopy(PRVM_gameedictvector(ed, movedir), movedir); if(movetype == MOVETYPE_PHYSICS) - jointtype = 0; // can't have both + jointtype = JOINTTYPE_NONE; // can't have both if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0) enemy = 0; if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0) @@ -1928,7 +1977,7 @@ static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed case JOINTTYPE_FIXED: j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0); break; - case 0: + case JOINTTYPE_NONE: default: // no joint j = 0; @@ -2028,16 +2077,51 @@ static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed } } +// test convex geometry data +// planes for a cube, these should coincide with the +dReal test_convex_planes[] = +{ + 1.0f ,0.0f ,0.0f ,2.25f, + 0.0f ,1.0f ,0.0f ,2.25f, + 0.0f ,0.0f ,1.0f ,2.25f, + -1.0f,0.0f ,0.0f ,2.25f, + 0.0f ,-1.0f,0.0f ,2.25f, + 0.0f ,0.0f ,-1.0f,2.25f +}; +const unsigned int test_convex_planecount = 6; +// points for a cube +dReal test_convex_points[] = +{ + 2.25f,2.25f,2.25f, // point 0 + -2.25f,2.25f,2.25f, // point 1 + 2.25f,-2.25f,2.25f, // point 2 + -2.25f,-2.25f,2.25f, // point 3 + 2.25f,2.25f,-2.25f, // point 4 + -2.25f,2.25f,-2.25f, // point 5 + 2.25f,-2.25f,-2.25f, // point 6 + -2.25f,-2.25f,-2.25f, // point 7 +}; +const unsigned int test_convex_pointcount = 8; +// polygons for a cube (6 squares), index +unsigned int test_convex_polygons[] = +{ + 4,0,2,6,4, // positive X + 4,1,0,4,5, // positive Y + 4,0,1,3,2, // positive Z + 4,3,1,5,7, // negative X + 4,2,3,7,6, // negative Y + 4,5,4,6,7, // negative Z +}; + static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) { + prvm_prog_t *prog = world->prog; const float *iv; const int *ie; - dBodyID body = (dBodyID)ed->priv.server->ode_body; + dBodyID body; dMass mass; - dReal test; const dReal *ovelocity, *ospinvelocity; void *dataID; - dVector3 capsulerot[3]; dp_model_t *model; float *ov; int *oe; @@ -2046,7 +2130,7 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) int movetype = MOVETYPE_NONE; int numtriangles; int numvertices; - int solid = SOLID_NOT; + int solid = SOLID_NOT, geomtype = 0; int triangleindex; int vertexindex; mempool_t *mempool; @@ -2068,32 +2152,62 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) vec_t massval = 1.0f; vec_t movelimit; vec_t radius; - vec_t scale = 1.0f; + vec3_t scale; vec_t spinlimit; + vec_t test; qboolean gravity; + qboolean geom_modified = false; edict_odefunc_t *func, *nextf; -#ifdef ODE_DYNAMIC + dReal *planes, *planesData, *pointsData; + unsigned int *polygons, *polygonsData, polyvert; + qboolean *mapped, *used, convex_compatible; + int numplanes = 0, numpoints = 0, i; + +#ifndef LINK_TO_LIBODE if (!ode_dll) return; #endif VectorClear(entmins); VectorClear(entmaxs); + solid = (int)PRVM_gameedictfloat(ed, solid); + geomtype = (int)PRVM_gameedictfloat(ed, geomtype); movetype = (int)PRVM_gameedictfloat(ed, movetype); - scale = PRVM_gameedictfloat(ed, scale);if (!scale) scale = 1.0f; - modelindex = 0; - if (world == &sv.world) - mempool = sv_mempool; - else if (world == &cl.world) - mempool = cls.levelmempool; + // support scale and q3map/radiant's modelscale_vec + if (PRVM_gameedictvector(ed, modelscale_vec)[0] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[1] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[2] != 0.0) + VectorCopy(PRVM_gameedictvector(ed, modelscale_vec), scale); + else if (PRVM_gameedictfloat(ed, scale)) + VectorSet(scale, PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale)); else - mempool = NULL; + VectorSet(scale, 1.0f, 1.0f, 1.0f); + modelindex = 0; + if (PRVM_gameedictfloat(ed, mass)) + massval = PRVM_gameedictfloat(ed, mass); + if (movetype != MOVETYPE_PHYSICS) + massval = 1.0f; + mempool = prog->progs_mempool; model = NULL; - switch(solid) + if (!geomtype) + { + // VorteX: keep support for deprecated solid fields to not break mods + if (solid == SOLID_PHYSICS_TRIMESH || solid == SOLID_BSP) + geomtype = GEOMTYPE_TRIMESH; + else if (solid == SOLID_NOT || solid == SOLID_TRIGGER) + geomtype = GEOMTYPE_NONE; + else if (solid == SOLID_PHYSICS_SPHERE) + geomtype = GEOMTYPE_SPHERE; + else if (solid == SOLID_PHYSICS_CAPSULE) + geomtype = GEOMTYPE_CAPSULE; + else if (solid == SOLID_PHYSICS_CYLINDER) + geomtype = GEOMTYPE_CYLINDER; + else if (solid == SOLID_PHYSICS_BOX) + geomtype = GEOMTYPE_BOX; + else + geomtype = GEOMTYPE_BOX; + } + if (geomtype == GEOMTYPE_TRIMESH) { - case SOLID_BSP: - case SOLID_PHYSICS_TRIMESH: modelindex = (int)PRVM_gameedictfloat(ed, modelindex); if (world == &sv.world) model = SV_GetModelByIndex(modelindex); @@ -2103,27 +2217,33 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) model = NULL; if (model) { - VectorScale(model->normalmins, scale, entmins); - VectorScale(model->normalmaxs, scale, entmaxs); - massval = PRVM_gameedictfloat(ed, mass); + entmins[0] = model->normalmins[0] * scale[0]; + entmins[1] = model->normalmins[1] * scale[1]; + entmins[2] = model->normalmins[2] * scale[2]; + entmaxs[0] = model->normalmaxs[0] * scale[0]; + entmaxs[1] = model->normalmaxs[1] * scale[1]; + entmaxs[2] = model->normalmaxs[2] * scale[2]; + geom_modified = !VectorCompare(ed->priv.server->ode_scale, scale) || ed->priv.server->ode_modelindex != modelindex; } else { + Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname))); + geomtype = GEOMTYPE_BOX; + VectorCopy(PRVM_gameedictvector(ed, mins), entmins); + VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs); modelindex = 0; - massval = 1.0f; + geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs); } - break; - case SOLID_BBOX: - //case SOLID_SLIDEBOX: - case SOLID_CORPSE: - case SOLID_PHYSICS_BOX: - case SOLID_PHYSICS_SPHERE: - case SOLID_PHYSICS_CAPSULE: + } + else if (geomtype && geomtype != GEOMTYPE_NONE) + { VectorCopy(PRVM_gameedictvector(ed, mins), entmins); VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs); - massval = PRVM_gameedictfloat(ed, mass); - break; - default: + geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs); + } + else + { + // geometry type not set, falling back if (ed->priv.server->ode_physics) World_Physics_RemoveFromEntity(world, ed); return; @@ -2138,61 +2258,51 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) return; } - if (movetype != MOVETYPE_PHYSICS) - massval = 1.0f; + // get friction + ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction) ? PRVM_gameedictfloat(ed, friction) : 1.0f; - // get friction from entity - if (PRVM_gameedictfloat(ed, friction)) - ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction); - else - ed->priv.server->ode_friction = 1.0; - // 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) + if (!ed->priv.server->ode_physics || ed->priv.server->ode_mass != massval || geom_modified) { modified = true; World_Physics_RemoveFromEntity(world, ed); ed->priv.server->ode_physics = true; - VectorCopy(entmins, ed->priv.server->ode_mins); - VectorCopy(entmaxs, ed->priv.server->ode_maxs); - ed->priv.server->ode_mass = massval; - ed->priv.server->ode_modelindex = modelindex; VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter); if (PRVM_gameedictvector(ed, massofs)) VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs)); - else - 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) + + // check geomsize + if (geomsize[0] * geomsize[1] * geomsize[2] == 0) { if (movetype == MOVETYPE_PHYSICS) - Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname))); - massval = 1.0f; + Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname))); VectorSet(geomsize, 1.0f, 1.0f, 1.0f); } - switch(solid) + // greate geom + switch(geomtype) { - case SOLID_BSP: - case SOLID_PHYSICS_TRIMESH: - ed->priv.server->ode_offsetmatrix = identitymatrix; - if (!model) - { - Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname))); - goto treatasbox; - } + case GEOMTYPE_TRIMESH: // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces if (!model->brush.collisionmesh) Mod_CreateCollisionMesh(model); - if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles) + if (!model->brush.collisionmesh) { - Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname))); + Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname))); goto treatasbox; } + + // check if trimesh can be defined with convex + convex_compatible = false; + for (i = 0;i < model->nummodelsurfaces;i++) + { + if (!strcmp(((msurface_t *)(model->data_surfaces + model->firstmodelsurface + i))->texture->name, "collisionconvex")) + { + convex_compatible = true; + break; + } + } + // ODE requires persistent mesh storage, so we need to copy out // the data from the model because renderer restarts could free it // during the game, additionally we need to flip the triangles... @@ -2200,11 +2310,36 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) // concave edges, etc., so this is not a lightweight operation ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts; ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3])); + + // VorteX: rebuild geomsize based on entity's collision mesh, honor scale + VectorSet(entmins, 0, 0, 0); + VectorSet(entmaxs, 0, 0, 0); for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3) { - ov[0] = iv[0] - geomcenter[0]; - ov[1] = iv[1] - geomcenter[1]; - ov[2] = iv[2] - geomcenter[2]; + ov[0] = iv[0] * scale[0]; + ov[1] = iv[1] * scale[1]; + ov[2] = iv[2] * scale[2]; + entmins[0] = min(entmins[0], ov[0]); + entmins[1] = min(entmins[1], ov[1]); + entmins[2] = min(entmins[2], ov[2]); + entmaxs[0] = max(entmaxs[0], ov[0]); + entmaxs[1] = max(entmaxs[1], ov[1]); + entmaxs[2] = max(entmaxs[2], ov[2]); + } + if (!PRVM_gameedictvector(ed, massofs)) + VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter); + for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3) + { + ov[0] = ov[0] - geomcenter[0]; + ov[1] = ov[1] - geomcenter[1]; + ov[2] = ov[2] - geomcenter[2]; + } + VectorSubtract(entmaxs, entmins, geomsize); + if (VectorLength2(geomsize) == 0) + { + if (movetype == MOVETYPE_PHYSICS) + Con_Printf("entity %i collision mesh has null geomsize\n", PRVM_NUM_FOR_EDICT(ed)); + VectorSet(geomsize, 1.0f, 1.0f, 1.0f); } ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles; ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3])); @@ -2215,29 +2350,159 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) oe[1] = ie[1]; oe[2] = ie[0]; } + // create geom Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); - // now create the geom - dataID = dGeomTriMeshDataCreate(); - dGeomTriMeshDataBuildSingle((dTriMeshDataID)dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3])); - ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL); - dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); + if (!convex_compatible || !physics_ode_allowconvex.integer) + { + // trimesh + dataID = dGeomTriMeshDataCreate(); + dGeomTriMeshDataBuildSingle((dTriMeshDataID)dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3])); + ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL); + dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); + } + else + { + // VorteX: this code is unfinished in two ways + // - no duplicate vertex merging are done + // - triangles that shares same edge and havee sam plane are not merget into poly + // so, currently it only works for geosphere meshes with no UV + + Con_Printf("Build convex hull for model %s...\n", model->name); + // build convex geometry from trimesh data + // this ensures that trimesh's triangles can form correct convex geometry + // not many of error checking is performed + // ODE's conve hull data consist of: + // planes : an array of planes in the form: normal X, normal Y, normal Z, distance + // points : an array of points X,Y,Z + // polygons: an array of indices to the points of each polygon,it should be the number of vertices + // followed by that amount of indices to "points" in counter clockwise order + polygonsData = polygons = (unsigned int *)Mem_Alloc(mempool, numtriangles*sizeof(int)*4); + planesData = planes = (dReal *)Mem_Alloc(mempool, numtriangles*sizeof(dReal)*4); + mapped = (qboolean *)Mem_Alloc(mempool, numvertices*sizeof(qboolean)); + used = (qboolean *)Mem_Alloc(mempool, numtriangles*sizeof(qboolean)); + memset(mapped, 0, numvertices*sizeof(qboolean)); + memset(used, 0, numtriangles*sizeof(qboolean)); + numplanes = numpoints = polyvert = 0; + // build convex hull + // todo: merge duplicated verts here + Con_Printf("Building...\n"); + iv = ed->priv.server->ode_vertex3f; + for (triangleindex = 0; triangleindex < numtriangles; triangleindex++) + { + // already formed a polygon? + if (used[triangleindex]) + continue; + // init polygon + // switch clockwise->counterclockwise + ie = &model->brush.collisionmesh->element3i[triangleindex*3]; + used[triangleindex] = true; + TriangleNormal(&iv[ie[0]*3], &iv[ie[1]*3], &iv[ie[2]*3], planes); + VectorNormalize(planes); + polygons[0] = 3; + polygons[3] = (unsigned int)ie[0]; mapped[polygons[3]] = true; + polygons[2] = (unsigned int)ie[1]; mapped[polygons[2]] = true; + polygons[1] = (unsigned int)ie[2]; mapped[polygons[1]] = true; + + // now find and include concave triangles + for (i = triangleindex; i < numtriangles; i++) + { + if (used[i]) + continue; + // should share at least 2 vertexes + for (polyvert = 1; polyvert <= polygons[0]; polyvert++) + { + // todo: merge in triangles that shares an edge and have same plane here + } + } + + // add polygon to overall stats + planes[3] = DotProduct(&iv[polygons[1]*3], planes); + polygons += (polygons[0]+1); + planes += 4; + numplanes++; + } + Mem_Free(used); + // save points + for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++) + if (mapped[vertexindex]) + numpoints++; + pointsData = (dReal *)Mem_Alloc(mempool, numpoints*sizeof(dReal)*3 + numplanes*sizeof(dReal)*4); // planes is appended + for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++) + { + if (mapped[vertexindex]) + { + VectorCopy(&iv[vertexindex*3], &pointsData[numpoints*3]); + numpoints++; + } + } + Mem_Free(mapped); + Con_Printf("Points: \n"); + for (i = 0; i < (int)numpoints; i++) + Con_Printf("%3i: %3.1f %3.1f %3.1f\n", i, pointsData[i*3], pointsData[i*3+1], pointsData[i*3+2]); + // save planes + planes = planesData; + planesData = pointsData + numpoints*3; + memcpy(planesData, planes, numplanes*sizeof(dReal)*4); + Mem_Free(planes); + Con_Printf("planes...\n"); + for (i = 0; i < numplanes; i++) + Con_Printf("%3i: %1.1f %1.1f %1.1f %1.1f\n", i, planesData[i*4], planesData[i*4 + 1], planesData[i*4 + 2], planesData[i*4 + 3]); + // save polygons + polyvert = polygons - polygonsData; + polygons = polygonsData; + polygonsData = (unsigned int *)Mem_Alloc(mempool, polyvert*sizeof(int)); + memcpy(polygonsData, polygons, polyvert*sizeof(int)); + Mem_Free(polygons); + Con_Printf("Polygons: \n"); + polygons = polygonsData; + for (i = 0; i < numplanes; i++) + { + Con_Printf("%3i : %i ", i, polygons[0]); + for (triangleindex = 1; triangleindex <= (int)polygons[0]; triangleindex++) + Con_Printf("%3i ", polygons[triangleindex]); + polygons += (polygons[0]+1); + Con_Printf("\n"); + } + Mem_Free(ed->priv.server->ode_element3i); + ed->priv.server->ode_element3i = (int *)polygonsData; + Mem_Free(ed->priv.server->ode_vertex3f); + ed->priv.server->ode_vertex3f = (float *)pointsData; + // check for properly build polygons by calculating the determinant of the 3x3 matrix composed of the first 3 points in the polygon + // this code is picked from ODE Source + Con_Printf("Check...\n"); + polygons = polygonsData; + for (i = 0; i < numplanes; i++) + { + if((pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+2] + + pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+0] + + pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+1] - + pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+0] - + pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+2] - + pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+1]) < 0) + Con_Printf("WARNING: Polygon %d is not defined counterclockwise\n", i); + if (planesData[(i*4)+3] < 0) + Con_Printf("WARNING: Plane %d does not contain the origin\n", i); + polygons += (*polygons + 1); + } + // create geom + Con_Printf("Create geom...\n"); + ed->priv.server->ode_geom = (void *)dCreateConvex((dSpaceID)world->physics.ode_space, planesData, numplanes, pointsData, numpoints, polygonsData); + dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); + Con_Printf("Done!\n"); + } break; - case SOLID_BBOX: - case SOLID_SLIDEBOX: - case SOLID_CORPSE: - case SOLID_PHYSICS_BOX: + case GEOMTYPE_BOX: treatasbox: Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]); dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); break; - case SOLID_PHYSICS_SPHERE: + case GEOMTYPE_SPHERE: Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f); dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f); break; - case SOLID_PHYSICS_CAPSULE: - case SOLID_PHYSICS_CYLINDER: + case GEOMTYPE_CAPSULE: axisindex = 0; if (geomsize[axisindex] < geomsize[1]) axisindex = 1; @@ -2247,36 +2512,136 @@ treatasbox: // axis, since ODE doesn't like this idea we have to create a // capsule which uses the standard orientation, and apply a // transform to it - memset(capsulerot, 0, sizeof(capsulerot)); if (axisindex == 0) + { Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); + radius = min(geomsize[1], geomsize[2]) * 0.5f; + } else if (axisindex == 1) + { Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); + radius = min(geomsize[0], geomsize[2]) * 0.5f; + } else + { Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); - radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius + radius = min(geomsize[0], geomsize[1]) * 0.5f; + } length = geomsize[axisindex] - radius*2; // because we want to support more than one axisindex, we have to // create a transform, and turn on its cleanup setting (which will // cause the child to be destroyed when it is destroyed) - if (solid == SOLID_PHYSICS_CAPSULE) + ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); + dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length); + break; + case GEOMTYPE_CAPSULE_X: + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); + radius = min(geomsize[1], geomsize[2]) * 0.5f; + length = geomsize[0] - radius*2; + // check if length is not enough, reduce radius then + if (length <= 0) + { + radius -= (1 - length)*0.5; + length = 1; + } + ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); + dMassSetCapsuleTotal(&mass, massval, 1, radius, length); + break; + case GEOMTYPE_CAPSULE_Y: + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); + radius = min(geomsize[0], geomsize[2]) * 0.5f; + length = geomsize[1] - radius*2; + // check if length is not enough, reduce radius then + if (length <= 0) + { + radius -= (1 - length)*0.5; + length = 1; + } + ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); + dMassSetCapsuleTotal(&mass, massval, 2, radius, length); + break; + case GEOMTYPE_CAPSULE_Z: + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); + radius = min(geomsize[1], geomsize[0]) * 0.5f; + length = geomsize[2] - radius*2; + // check if length is not enough, reduce radius then + if (length <= 0) + { + radius -= (1 - length)*0.5; + length = 1; + } + ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); + dMassSetCapsuleTotal(&mass, massval, 3, radius, length); + break; + case GEOMTYPE_CYLINDER: + axisindex = 0; + if (geomsize[axisindex] < geomsize[1]) + axisindex = 1; + if (geomsize[axisindex] < geomsize[2]) + axisindex = 2; + // the qc gives us 3 axis radius, the longest axis is the capsule + // axis, since ODE doesn't like this idea we have to create a + // capsule which uses the standard orientation, and apply a + // transform to it + if (axisindex == 0) { - ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); - dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length); + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); + radius = min(geomsize[1], geomsize[2]) * 0.5f; + } + else if (axisindex == 1) + { + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); + radius = min(geomsize[0], geomsize[2]) * 0.5f; } else { - ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length); - dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length); + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); + radius = min(geomsize[0], geomsize[1]) * 0.5f; + } + length = geomsize[axisindex]; + // check if length is not enough, reduce radius then + if (length <= 0) + { + radius -= (1 - length)*0.5; + length = 1; } + ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length); + dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length); + break; + case GEOMTYPE_CYLINDER_X: + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); + radius = min(geomsize[1], geomsize[2]) * 0.5f; + length = geomsize[0]; + ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length); + dMassSetCylinderTotal(&mass, massval, 1, radius, length); + break; + case GEOMTYPE_CYLINDER_Y: + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); + radius = min(geomsize[0], geomsize[2]) * 0.5f; + length = geomsize[1]; + ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length); + dMassSetCylinderTotal(&mass, massval, 2, radius, length); + break; + case GEOMTYPE_CYLINDER_Z: + Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); + radius = min(geomsize[0], geomsize[1]) * 0.5f; + length = geomsize[2]; + ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length); + dMassSetCylinderTotal(&mass, massval, 3, radius, length); break; default: - Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid); + Sys_Error("World_Physics_BodyFromEntity: unrecognized geomtype value %i was accepted by filter\n", solid); // this goto only exists to prevent warnings from the compiler // about uninitialized variables (mass), while allowing it to // catch legitimate uninitialized variable warnings goto treatasbox; } + ed->priv.server->ode_mass = massval; + ed->priv.server->ode_modelindex = modelindex; + VectorCopy(entmins, ed->priv.server->ode_mins); + VectorCopy(entmaxs, ed->priv.server->ode_maxs); + VectorCopy(scale, ed->priv.server->ode_scale); + ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2])); Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix); ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass)); memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass)); @@ -2286,6 +2651,7 @@ treatasbox: dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed); if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom) { + // entity is dynamic if (ed->priv.server->ode_body == NULL) { ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world)); @@ -2297,6 +2663,7 @@ treatasbox: } else { + // entity is deactivated if (ed->priv.server->ode_body != NULL) { if(ed->priv.server->ode_geom) @@ -2337,13 +2704,13 @@ treatasbox: VectorCopy(angles, qangles); VectorCopy(avelocity, qavelocity); - if(!strcmp(prog->name, "server")) // FIXME some better way? + if(prog == SVVM_prog) // FIXME some better way? { - pitchsign = SV_GetPitchSign(ed); + pitchsign = SV_GetPitchSign(prog, ed); } - else if(!strcmp(prog->name, "client")) + else if(prog == CLVM_prog) { - pitchsign = CL_GetPitchSign(ed); + pitchsign = CL_GetPitchSign(prog, ed); } qangles[PITCH] *= pitchsign; qavelocity[PITCH] *= pitchsign; @@ -2372,17 +2739,17 @@ treatasbox: if (physics_ode_trick_fixnan.integer) { test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity); - if (IS_NAN(test)) + if (VEC_IS_NAN(test)) { modified = true; //Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]); if (physics_ode_trick_fixnan.integer >= 2) - Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]); + Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]); test = VectorLength2(origin); - if (IS_NAN(test)) + if (VEC_IS_NAN(test)) VectorClear(origin); test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up); - if (IS_NAN(test)) + if (VEC_IS_NAN(test)) { VectorSet(angles, 0, 0, 0); VectorSet(forward, 1, 0, 0); @@ -2390,10 +2757,10 @@ treatasbox: VectorSet(up, 0, 0, 1); } test = VectorLength2(velocity); - if (IS_NAN(test)) + if (VEC_IS_NAN(test)) VectorClear(velocity); test = VectorLength2(spinvelocity); - if (IS_NAN(test)) + if (VEC_IS_NAN(test)) { VectorClear(avelocity); VectorClear(spinvelocity); @@ -2449,9 +2816,9 @@ treatasbox: r[0][2] = up[0]; r[1][2] = up[1]; r[2][2] = up[2]; - if(body) + if (body) { - if(movetype == MOVETYPE_PHYSICS) + if (movetype == MOVETYPE_PHYSICS) { dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body); dBodySetPosition(body, origin[0], origin[1], origin[2]); @@ -2480,7 +2847,7 @@ treatasbox: } } - if(body) + if (body) { // limit movement speed to prevent missed collisions at high speed @@ -2518,13 +2885,14 @@ treatasbox: } } -#define MAX_CONTACTS 16 +#define MAX_CONTACTS 32 static void nearCallback (void *data, dGeomID o1, dGeomID o2) { world_t *world = (world_t *)data; + prvm_prog_t *prog = world->prog; dContact contact[MAX_CONTACTS]; // max contacts per collision pair - dBodyID b1; - dBodyID b2; + int b1enabled = 0, b2enabled = 0; + dBodyID b1, b2; dJointID c; int i; int numcontacts; @@ -2532,6 +2900,7 @@ static void nearCallback (void *data, dGeomID o1, dGeomID o2) float bouncestop1 = 60.0f / 800.0f; float bouncefactor2 = 0.0f; float bouncestop2 = 60.0f / 800.0f; + float erp; dVector3 grav; prvm_edict_t *ed1, *ed2; @@ -2547,12 +2916,16 @@ static void nearCallback (void *data, dGeomID o1, dGeomID o2) } b1 = dGeomGetBody(o1); + if (b1) + b1enabled = dBodyIsEnabled(b1); b2 = dGeomGetBody(o2); + if (b2) + b2enabled = dBodyIsEnabled(b2); - // at least one object has to be using MOVETYPE_PHYSICS or we just don't care - if (!b1 && !b2) + // at least one object has to be using MOVETYPE_PHYSICS and should be enabled or we just don't care + if (!b1enabled && !b2enabled) return; - + // exit without doing anything if the two bodies are connected by a joint if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact)) return; @@ -2579,7 +2952,7 @@ static void nearCallback (void *data, dGeomID o1, dGeomID o2) bouncestop2 = 60.0f / 800.0f; } - if(!strcmp(prog->name, "server")) + if(prog == SVVM_prog) { if(ed1 && PRVM_serveredictfunction(ed1, touch)) { @@ -2611,14 +2984,27 @@ static void nearCallback (void *data, dGeomID o1, dGeomID o2) dWorldGetGravity((dWorldID)world->physics.ode_world, grav); bouncestop1 *= fabs(grav[2]); + // get erp + // select object that moves faster ang get it's erp + erp = (VectorLength2(PRVM_gameedictvector(ed1, velocity)) > VectorLength2(PRVM_gameedictvector(ed2, velocity))) ? PRVM_gameedictfloat(ed1, erp) : PRVM_gameedictfloat(ed2, erp); + + // get max contact points for this collision + numcontacts = (int)PRVM_gameedictfloat(ed1, maxcontacts); + if (!numcontacts) + numcontacts = physics_ode_contact_maxpoints.integer; + if (PRVM_gameedictfloat(ed2, maxcontacts)) + numcontacts = max(numcontacts, (int)PRVM_gameedictfloat(ed2, maxcontacts)); + else + numcontacts = max(numcontacts, physics_ode_contact_maxpoints.integer); + // generate contact points between the two non-space geoms - numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0])); + numcontacts = dCollide(o1, o2, min(MAX_CONTACTS, numcontacts), &(contact[0].geom), sizeof(contact[0])); // add these contact points to the simulation for (i = 0;i < numcontacts;i++) { contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0) | (bouncefactor1 > 0 ? dContactBounce : 0); contact[i].surface.mu = physics_ode_contact_mu.value * ed1->priv.server->ode_friction * ed2->priv.server->ode_friction; - contact[i].surface.soft_erp = physics_ode_contact_erp.value; + contact[i].surface.soft_erp = physics_ode_contact_erp.value + erp; contact[i].surface.soft_cfm = physics_ode_contact_cfm.value; contact[i].surface.bounce = bouncefactor1; contact[i].surface.bounce_vel = bouncestop1; @@ -2630,20 +3016,39 @@ static void nearCallback (void *data, dGeomID o1, dGeomID o2) void World_Physics_Frame(world_t *world, double frametime, double gravity) { +#ifdef USEODE + prvm_prog_t *prog = world->prog; double tdelta, tdelta2, tdelta3, simulationtime, collisiontime; - tdelta = Sys_DoubleTime(); -#ifdef USEODE + tdelta = Sys_DirtyTime(); if (world->physics.ode && physics_ode.integer) { int i; prvm_edict_t *ed; - world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000); - if (physics_ode_constantstep.integer) - world->physics.ode_step = sys_ticrate.value / world->physics.ode_iterations; - else + if (!physics_ode_constantstep.value) + { + world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000); world->physics.ode_step = frametime / world->physics.ode_iterations; + } + else + { + world->physics.ode_time += frametime; + // step size + if (physics_ode_constantstep.value > 0 && physics_ode_constantstep.value < 1) + world->physics.ode_step = physics_ode_constantstep.value; + else + world->physics.ode_step = sys_ticrate.value; + if (world->physics.ode_time > 0.2f) + world->physics.ode_time = world->physics.ode_step; + // set number of iterations to process + world->physics.ode_iterations = 0; + while(world->physics.ode_time >= world->physics.ode_step) + { + world->physics.ode_iterations++; + world->physics.ode_time -= world->physics.ode_step; + } + } world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step; World_Physics_UpdateODE(world); @@ -2659,7 +3064,7 @@ void World_Physics_Frame(world_t *world, double frametime, double gravity) World_Physics_Frame_JointFromEntity(world, ed); } - tdelta2 = Sys_DoubleTime(); + tdelta2 = Sys_DirtyTime(); collisiontime = 0; for (i = 0;i < world->physics.ode_iterations;i++) { @@ -2667,29 +3072,27 @@ void World_Physics_Frame(world_t *world, double frametime, double gravity) dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value); // set the tolerance for closeness of objects dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value)); - // run collisions for the current world state, creating JointGroup - tdelta3 = Sys_DoubleTime(); + tdelta3 = Sys_DirtyTime(); dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback); - collisiontime += (Sys_DoubleTime() - tdelta3)*10000; - - // run physics (move objects, calculate new velocities) - if (physics_ode_worldstep.integer == 2) + collisiontime += (Sys_DirtyTime() - tdelta3)*10000; + // apply forces + if (prog) { - dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200)); - dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step); + int j; + for (j = 0, ed = prog->edicts + j;j < prog->num_edicts;j++, ed++) + if (!prog->edicts[j].priv.required->free) + World_Physics_Frame_ForceFromEntity(world, ed); } -#ifdef ODE_USE_STEPFAST - else if (physics_ode_worldstep.integer == 1) - dWorldStepFast1((dWorldID)world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstep_iterations.integer, 200)); -#endif - else - dWorldStep((dWorldID)world->physics.ode_world, world->physics.ode_step); - + // run physics (move objects, calculate new velocities) + // be sure not to pass 0 as step time because that causes an ODE error + dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200)); + if (world->physics.ode_step > 0) + dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step); // clear the JointGroup now that we're done with it dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup); } - simulationtime = (Sys_DoubleTime() - tdelta2)*10000; + simulationtime = (Sys_DirtyTime() - tdelta2)*10000; // copy physics properties from physics engine to entities and do some stats if (prog) @@ -2716,7 +3119,7 @@ void World_Physics_Frame(world_t *world, double frametime, double gravity) if (dBodyIsEnabled(body)) world->physics.ode_activeovjects++; } - Con_Printf("ODE Stats(%s): %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, simulationtime, collisiontime, (Sys_DoubleTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects)); + Con_Printf("ODE Stats(%s): %i iterations, %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, world->physics.ode_iterations, simulationtime, collisiontime, (Sys_DirtyTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects)); } } }