2 Copyright (C) 1996-1997 Id Software, Inc.
4 This program is free software; you can redistribute it and/or
5 modify it under the terms of the GNU General Public License
6 as published by the Free Software Foundation; either version 2
7 of the License, or (at your option) any later version.
9 This program is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
13 See the GNU General Public License for more details.
15 You should have received a copy of the GNU General Public License
16 along with this program; if not, write to the Free Software
17 Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
20 // world.c -- world query functions
23 #include "clvm_cmds.h"
24 #include "cl_collision.h"
28 entities never clip against themselves, or their owner
30 line of sight checks trace->inopen and trace->inwater, but bullets don't
34 static void World_Physics_Init(void);
41 static void World_Physics_Shutdown(void);
42 void World_Shutdown(void)
44 World_Physics_Shutdown();
47 static void World_Physics_Start(world_t *world);
48 void World_Start(world_t *world)
50 World_Physics_Start(world);
53 static void World_Physics_End(world_t *world);
54 void World_End(world_t *world)
56 World_Physics_End(world);
59 //============================================================================
61 /// World_ClearLink is used for new headnodes
62 void World_ClearLink (link_t *l)
65 l->prev = l->next = l;
68 void World_RemoveLink (link_t *l)
70 l->next->prev = l->prev;
71 l->prev->next = l->next;
74 void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
76 l->entitynumber = entitynumber;
78 l->prev = before->prev;
84 ===============================================================================
88 ===============================================================================
91 void World_PrintAreaStats(world_t *world, const char *worldname)
93 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);
94 world->areagrid_stats_calls = 0;
95 world->areagrid_stats_nodechecks = 0;
96 world->areagrid_stats_entitychecks = 0;
105 void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs, prvm_prog_t *prog)
109 strlcpy(world->filename, filename, sizeof(world->filename));
110 VectorCopy(mins, world->mins);
111 VectorCopy(maxs, world->maxs);
114 // the areagrid_marknumber is not allowed to be 0
115 if (world->areagrid_marknumber < 1)
116 world->areagrid_marknumber = 1;
117 // choose either the world box size, or a larger box to ensure the grid isn't too fine
118 world->areagrid_size[0] = max(world->maxs[0] - world->mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
119 world->areagrid_size[1] = max(world->maxs[1] - world->mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
120 world->areagrid_size[2] = max(world->maxs[2] - world->mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
121 // figure out the corners of such a box, centered at the center of the world box
122 world->areagrid_mins[0] = (world->mins[0] + world->maxs[0] - world->areagrid_size[0]) * 0.5f;
123 world->areagrid_mins[1] = (world->mins[1] + world->maxs[1] - world->areagrid_size[1]) * 0.5f;
124 world->areagrid_mins[2] = (world->mins[2] + world->maxs[2] - world->areagrid_size[2]) * 0.5f;
125 world->areagrid_maxs[0] = (world->mins[0] + world->maxs[0] + world->areagrid_size[0]) * 0.5f;
126 world->areagrid_maxs[1] = (world->mins[1] + world->maxs[1] + world->areagrid_size[1]) * 0.5f;
127 world->areagrid_maxs[2] = (world->mins[2] + world->maxs[2] + world->areagrid_size[2]) * 0.5f;
128 // now calculate the actual useful info from that
129 VectorNegate(world->areagrid_mins, world->areagrid_bias);
130 world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
131 world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
132 world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
133 World_ClearLink(&world->areagrid_outside);
134 for (i = 0;i < AREA_GRIDNODES;i++)
135 World_ClearLink(&world->areagrid[i]);
136 if (developer_extra.integer)
137 Con_DPrintf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value);
146 void World_UnlinkAll(world_t *world)
148 prvm_prog_t *prog = world->prog;
151 // unlink all entities one by one
152 grid = &world->areagrid_outside;
153 while (grid->next != grid)
154 World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
155 for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
156 while (grid->next != grid)
157 World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
165 void World_UnlinkEdict(prvm_edict_t *ent)
168 for (i = 0;i < ENTITYGRIDAREAS;i++)
170 if (ent->priv.server->areagrid[i].prev)
172 World_RemoveLink (&ent->priv.server->areagrid[i]);
173 ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL;
178 int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t requestmaxs, int maxlist, prvm_edict_t **list)
180 prvm_prog_t *prog = world->prog;
185 vec3_t paddedmins, paddedmaxs;
186 int igrid[3], igridmins[3], igridmaxs[3];
188 VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f);
189 VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f);
191 // FIXME: if areagrid_marknumber wraps, all entities need their
192 // ent->priv.server->areagridmarknumber reset
193 world->areagrid_stats_calls++;
194 world->areagrid_marknumber++;
195 igridmins[0] = (int) floor((paddedmins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
196 igridmins[1] = (int) floor((paddedmins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
197 //igridmins[2] = (int) ((paddedmins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
198 igridmaxs[0] = (int) floor((paddedmaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
199 igridmaxs[1] = (int) floor((paddedmaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
200 //igridmaxs[2] = (int) ((paddedmaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
201 igridmins[0] = max(0, igridmins[0]);
202 igridmins[1] = max(0, igridmins[1]);
203 //igridmins[2] = max(0, igridmins[2]);
204 igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
205 igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
206 //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
208 // paranoid debugging
209 //VectorSet(igridmins, 0, 0, 0);VectorSet(igridmaxs, AREA_GRID, AREA_GRID, AREA_GRID);
212 // add entities not linked into areagrid because they are too big or
213 // outside the grid bounds
214 if (world->areagrid_outside.next)
216 grid = &world->areagrid_outside;
217 for (l = grid->next;l != grid;l = l->next)
219 ent = PRVM_EDICT_NUM(l->entitynumber);
220 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
222 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
223 if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
225 if (numlist < maxlist)
229 world->areagrid_stats_entitychecks++;
233 // add grid linked entities
234 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
236 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
237 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
241 for (l = grid->next;l != grid;l = l->next)
243 ent = PRVM_EDICT_NUM(l->entitynumber);
244 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
246 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
247 if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
249 if (numlist < maxlist)
253 //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]);
255 world->areagrid_stats_entitychecks++;
263 static void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
265 prvm_prog_t *prog = world->prog;
267 int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
269 if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
271 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);
275 igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
276 igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
277 //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
278 igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
279 igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
280 //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
281 if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
283 // wow, something outside the grid, store it as such
284 World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
289 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
291 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
292 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
293 World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
303 void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
305 prvm_prog_t *prog = world->prog;
306 // unlink from old position first
307 if (ent->priv.server->areagrid[0].prev)
308 World_UnlinkEdict(ent);
310 // don't add the world
311 if (ent == prog->edicts)
314 // don't add free entities
315 if (ent->priv.server->free)
318 VectorCopy(mins, ent->priv.server->areamins);
319 VectorCopy(maxs, ent->priv.server->areamaxs);
320 World_LinkEdict_AreaGrid(world, ent);
326 //============================================================================
327 // physics engine support
328 //============================================================================
331 cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
332 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."};
333 cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"};
334 cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep"};
335 cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
336 cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
337 cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
338 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"};
339 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"};
340 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"};
341 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"};
342 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"};
343 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"};
344 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"};
345 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"};
346 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"};
347 cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"};
348 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"};
349 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"};
350 cvar_t physics_ode_autodisable_steps = {0, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"};
351 cvar_t physics_ode_autodisable_time = {0, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"};
352 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"};
353 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"};
354 cvar_t physics_ode_autodisable_threshold_samples = {0, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"};
355 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"};
356 cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
357 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"};
358 cvar_t physics_ode_printstats = {0, "physics_ode_printstats", "0", "print ODE stats each frame"};
360 cvar_t physics_ode = {0, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"};
362 // LordHavoc: this large chunk of definitions comes from the ODE library
369 // ODE does not use WINAPI
375 // note: dynamic builds of ODE tend to be double precision, this is not used
377 typedef double dReal;
379 typedef dReal dVector3[4];
380 typedef dReal dVector4[4];
381 typedef dReal dMatrix3[4*3];
382 typedef dReal dMatrix4[4*4];
383 typedef dReal dMatrix6[8*6];
384 typedef dReal dQuaternion[4];
386 struct dxWorld; /* dynamics world */
387 struct dxSpace; /* collision space */
388 struct dxBody; /* rigid body (dynamics object) */
389 struct dxGeom; /* geometry (collision object) */
393 struct dxTriMeshData;
395 #define dInfinity 3.402823466e+38f
397 typedef struct dxWorld *dWorldID;
398 typedef struct dxSpace *dSpaceID;
399 typedef struct dxBody *dBodyID;
400 typedef struct dxGeom *dGeomID;
401 typedef struct dxJoint *dJointID;
402 typedef struct dxJointGroup *dJointGroupID;
403 typedef struct dxTriMeshData *dTriMeshDataID;
405 typedef struct dJointFeedback
407 dVector3 f1; /* force applied to body 1 */
408 dVector3 t1; /* torque applied to body 1 */
409 dVector3 f2; /* force applied to body 2 */
410 dVector3 t2; /* torque applied to body 2 */
414 typedef enum dJointType
434 #define D_ALL_PARAM_NAMES(start) \
435 /* parameters for limits and motors */ \
436 dParamLoStop = start, \
445 /* parameters for suspension */ \
446 dParamSuspensionERP, \
447 dParamSuspensionCFM, \
450 #define D_ALL_PARAM_NAMES_X(start,x) \
451 /* parameters for limits and motors */ \
452 dParamLoStop ## x = start, \
456 dParamFudgeFactor ## x, \
459 dParamStopERP ## x, \
460 dParamStopCFM ## x, \
461 /* parameters for suspension */ \
462 dParamSuspensionERP ## x, \
463 dParamSuspensionCFM ## x, \
468 D_ALL_PARAM_NAMES_X(0x100,2)
469 D_ALL_PARAM_NAMES_X(0x200,3)
471 /* add a multiple of this constant to the basic parameter numbers to get
472 * the parameters for the second, third etc axes.
488 dContactFDir1 = 0x002,
489 dContactBounce = 0x004,
490 dContactSoftERP = 0x008,
491 dContactSoftCFM = 0x010,
492 dContactMotion1 = 0x020,
493 dContactMotion2 = 0x040,
494 dContactMotionN = 0x080,
495 dContactSlip1 = 0x100,
496 dContactSlip2 = 0x200,
498 dContactApprox0 = 0x0000,
499 dContactApprox1_1 = 0x1000,
500 dContactApprox1_2 = 0x2000,
501 dContactApprox1 = 0x3000
504 typedef struct dSurfaceParameters
506 /* must always be defined */
510 /* only defined if the corresponding flag is set in mode */
516 dReal motion1,motion2,motionN;
518 } dSurfaceParameters;
520 typedef struct dContactGeom
522 dVector3 pos; ///< contact position
523 dVector3 normal; ///< normal vector
524 dReal depth; ///< penetration depth
525 dGeomID g1,g2; ///< the colliding geoms
526 int side1,side2; ///< (to be documented)
530 typedef struct dContact
532 dSurfaceParameters surface;
538 typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
541 // Order XZY or ZXY usually works best, if your Y is up.
542 #define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
543 #define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
544 #define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
545 #define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
546 #define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
547 #define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
549 const char* (ODE_API *dGetConfiguration)(void);
550 int (ODE_API *dCheckConfiguration)( const char* token );
551 int (ODE_API *dInitODE)(void);
552 //int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
553 //int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
554 //void (ODE_API *dCleanupODEAllDataForThread)(void);
555 void (ODE_API *dCloseODE)(void);
557 //int (ODE_API *dMassCheck)(const dMass *m);
558 //void (ODE_API *dMassSetZero)(dMass *);
559 //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);
560 //void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
561 void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
562 //void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
563 void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
564 //void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
565 void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
566 //void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
567 void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
568 //void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
569 //void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
570 //void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
571 //void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
572 //void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
573 //void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
575 dWorldID (ODE_API *dWorldCreate)(void);
576 void (ODE_API *dWorldDestroy)(dWorldID world);
577 void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
578 void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
579 void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
580 //dReal (ODE_API *dWorldGetERP)(dWorldID);
581 void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
582 //dReal (ODE_API *dWorldGetCFM)(dWorldID);
583 //void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
584 //void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
585 void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
586 void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
587 //int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
588 //void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
589 //dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
590 //void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
591 //dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
592 void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
593 //dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
594 //void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
595 //void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
596 //int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
597 //dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
598 void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
599 //dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
600 void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
601 //dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
602 //void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
603 //dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
604 //void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
605 //int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
606 void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
607 //int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
608 void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
609 //dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
610 void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
611 //int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
612 void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
613 //dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
614 void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
615 //dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
616 void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
617 //dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
618 void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
619 //dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
620 void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
621 //void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
622 //dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
623 //void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
624 //dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
625 //void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
626 //dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
627 //void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
628 //int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
629 //void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
630 //int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
631 //void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
632 //dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
633 //void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
634 //int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
635 //void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
636 //void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
637 //dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
638 dBodyID (ODE_API *dBodyCreate)(dWorldID);
639 void (ODE_API *dBodyDestroy)(dBodyID);
640 void (ODE_API *dBodySetData)(dBodyID, void *data);
641 void * (ODE_API *dBodyGetData)(dBodyID);
642 void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
643 void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
644 //void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
645 void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
646 void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
647 const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
648 //void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
649 const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
650 //void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
651 //const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
652 //void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
653 const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
654 const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
655 void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
656 //void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
657 void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
658 void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
659 //void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
660 //void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
661 void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
662 //void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
663 //void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
664 //void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
665 //const dReal * (ODE_API *dBodyGetForce)(dBodyID);
666 //const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
667 //void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
668 //void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
669 //void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
670 //void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
671 //void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
672 //void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
673 //void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
674 //void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
675 //void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
676 //void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
677 //int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
678 //void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
679 int (ODE_API *dBodyGetNumJoints)(dBodyID b);
680 dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
681 //void (ODE_API *dBodySetDynamic)(dBodyID);
682 //void (ODE_API *dBodySetKinematic)(dBodyID);
683 //int (ODE_API *dBodyIsKinematic)(dBodyID);
684 void (ODE_API *dBodyEnable)(dBodyID);
685 void (ODE_API *dBodyDisable)(dBodyID);
686 int (ODE_API *dBodyIsEnabled)(dBodyID);
687 void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
688 int (ODE_API *dBodyGetGravityMode)(dBodyID b);
689 //void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
690 //dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
691 //dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
692 //void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
693 //dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
694 //void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
695 //dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
696 //void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
697 //void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
698 //dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
699 //void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
700 //dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
701 //void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
702 //dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
703 //void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
704 //int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
705 //void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
706 dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
707 dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
708 dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
709 dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
710 dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
711 dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
712 //dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
713 //dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
714 //dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
715 dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
716 //dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
717 //dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
718 //dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
719 //dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
720 void (ODE_API *dJointDestroy)(dJointID);
721 dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
722 void (ODE_API *dJointGroupDestroy)(dJointGroupID);
723 void (ODE_API *dJointGroupEmpty)(dJointGroupID);
724 //int (ODE_API *dJointGetNumBodies)(dJointID);
725 void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
726 //void (ODE_API *dJointEnable)(dJointID);
727 //void (ODE_API *dJointDisable)(dJointID);
728 //int (ODE_API *dJointIsEnabled)(dJointID);
729 void (ODE_API *dJointSetData)(dJointID, void *data);
730 void * (ODE_API *dJointGetData)(dJointID);
731 //dJointType (ODE_API *dJointGetType)(dJointID);
732 dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
733 //void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
734 //dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
735 void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
736 //void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
737 void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
738 void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
739 //void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
740 void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
741 //void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
742 void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
743 //void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
744 void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
745 //void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
746 void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
747 //void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
748 void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
749 void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
750 void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
751 void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
752 //void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
753 void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
754 void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
755 //void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
756 void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
757 //void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
758 void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
759 //void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
760 //void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
761 //void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
762 //void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
763 //void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
764 //void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
765 //void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
766 //void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
767 //void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
768 //void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
769 //void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
770 //void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
771 //void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
772 //void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
773 //void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
774 //void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
775 //void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
776 //void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
777 //void (ODE_API *dJointSetFixed)(dJointID);
778 //void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
779 //void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
780 //void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
781 //void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
782 //void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
783 //void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
784 //void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
785 //void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
786 //void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
787 //void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
788 //void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
789 //void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
790 //void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
791 //void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
792 //void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
793 //dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
794 //void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
795 //void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
796 //void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
797 //dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
798 //dReal (ODE_API *dJointGetHingeAngle)(dJointID);
799 //dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
800 //dReal (ODE_API *dJointGetSliderPosition)(dJointID);
801 //dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
802 //void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
803 //dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
804 //void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
805 //void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
806 //void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
807 //void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
808 //dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
809 //dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
810 //dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
811 //dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
812 //void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
813 //void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
814 //void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
815 //void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
816 //dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
817 //void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
818 //dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
819 //dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
820 //dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
821 //dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
822 //void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
823 //dReal (ODE_API *dJointGetPRPosition)(dJointID);
824 //dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
825 //dReal (ODE_API *dJointGetPRAngle)(dJointID);
826 //dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
827 //void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
828 //void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
829 //dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
830 //void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
831 //dReal (ODE_API *dJointGetPUPosition)(dJointID);
832 //dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
833 //void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
834 //void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
835 //void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
836 //void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
837 //void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
838 //dReal (ODE_API *dJointGetPUAngle1)(dJointID);
839 //dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
840 //dReal (ODE_API *dJointGetPUAngle2)(dJointID);
841 //dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
842 //dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
843 //dReal (ODE_API *dJointGetPistonPosition)(dJointID);
844 //dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
845 //dReal (ODE_API *dJointGetPistonAngle)(dJointID);
846 //dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
847 //void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
848 //void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
849 //void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
850 //dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
851 //int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
852 //void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
853 //int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
854 //dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
855 //dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
856 //dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
857 //int (ODE_API *dJointGetAMotorMode)(dJointID);
858 //int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
859 //void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
860 //dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
861 //dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
862 //dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
863 //int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
864 int (ODE_API *dAreConnected)(dBodyID, dBodyID);
865 int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
867 dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
868 dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
869 dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
870 //dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
871 void (ODE_API *dSpaceDestroy)(dSpaceID);
872 //void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
873 //void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
874 //void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
875 //int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
876 //void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
877 //int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
878 //void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
879 //int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
880 //void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
881 //void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
882 //int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
883 //void (ODE_API *dSpaceClean)(dSpaceID);
884 //int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
885 //dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
886 //int (ODE_API *dSpaceGetClass)(dSpaceID space);
888 void (ODE_API *dGeomDestroy)(dGeomID geom);
889 void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
890 void * (ODE_API *dGeomGetData)(dGeomID geom);
891 void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
892 dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
893 void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
894 void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
895 //void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
896 //const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
897 //void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
898 //const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
899 //void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
900 //void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
901 //void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
902 int (ODE_API *dGeomIsSpace)(dGeomID geom);
903 //dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
904 //int (ODE_API *dGeomGetClass)(dGeomID geom);
905 //void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
906 //void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
907 //unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
908 //unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
909 //void (ODE_API *dGeomEnable)(dGeomID geom);
910 //void (ODE_API *dGeomDisable)(dGeomID geom);
911 //int (ODE_API *dGeomIsEnabled)(dGeomID geom);
912 //void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
913 //void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
914 //void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
915 //void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
916 //void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
917 //void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
918 //void (ODE_API *dGeomClearOffset)(dGeomID geom);
919 //int (ODE_API *dGeomIsOffset)(dGeomID geom);
920 //const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
921 //void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
922 //const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
923 //void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
924 //void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
925 int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
927 void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
928 void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
930 dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
931 //void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
932 //dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
933 //dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
935 dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
936 //void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
938 dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
939 //void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
940 //void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
941 //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
942 //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
944 //dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
945 //void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
946 //void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
947 //dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
949 dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
950 //void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
951 //void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
952 //dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
954 dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
955 //void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
956 //void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
958 //dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
959 //void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
960 //dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
961 //void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
962 //void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
964 dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
965 void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
966 //dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
967 void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
968 //int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
969 //void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
970 //int (ODE_API *dGeomTransformGetInfo)(dGeomID g);
972 enum { TRIMESH_FACE_NORMALS };
973 typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
974 typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
975 typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
976 typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
978 dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
979 void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
980 //void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
981 //void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
982 //void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
983 //dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
984 void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
985 //void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
986 //void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
987 //void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
988 //void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
989 //void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
990 //void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
991 //void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
992 //void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
993 //void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
994 //dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
995 //void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
996 //dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
997 //void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
998 //dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
999 //void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
1000 //dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
1001 dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
1002 //void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
1003 //dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
1004 //void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
1005 //int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
1006 //void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
1007 //dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
1008 //void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
1009 //void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
1010 //int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
1011 //void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
1013 static dllfunction_t odefuncs[] =
1015 {"dGetConfiguration", (void **) &dGetConfiguration},
1016 {"dCheckConfiguration", (void **) &dCheckConfiguration},
1017 {"dInitODE", (void **) &dInitODE},
1018 // {"dInitODE2", (void **) &dInitODE2},
1019 // {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
1020 // {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
1021 {"dCloseODE", (void **) &dCloseODE},
1022 // {"dMassCheck", (void **) &dMassCheck},
1023 // {"dMassSetZero", (void **) &dMassSetZero},
1024 // {"dMassSetParameters", (void **) &dMassSetParameters},
1025 // {"dMassSetSphere", (void **) &dMassSetSphere},
1026 {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal},
1027 // {"dMassSetCapsule", (void **) &dMassSetCapsule},
1028 {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal},
1029 // {"dMassSetCylinder", (void **) &dMassSetCylinder},
1030 {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
1031 // {"dMassSetBox", (void **) &dMassSetBox},
1032 {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal},
1033 // {"dMassSetTrimesh", (void **) &dMassSetTrimesh},
1034 // {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal},
1035 // {"dMassAdjust", (void **) &dMassAdjust},
1036 // {"dMassTranslate", (void **) &dMassTranslate},
1037 // {"dMassRotate", (void **) &dMassRotate},
1038 // {"dMassAdd", (void **) &dMassAdd},
1040 {"dWorldCreate", (void **) &dWorldCreate},
1041 {"dWorldDestroy", (void **) &dWorldDestroy},
1042 {"dWorldSetGravity", (void **) &dWorldSetGravity},
1043 {"dWorldGetGravity", (void **) &dWorldGetGravity},
1044 {"dWorldSetERP", (void **) &dWorldSetERP},
1045 // {"dWorldGetERP", (void **) &dWorldGetERP},
1046 {"dWorldSetCFM", (void **) &dWorldSetCFM},
1047 // {"dWorldGetCFM", (void **) &dWorldGetCFM},
1048 // {"dWorldStep", (void **) &dWorldStep},
1049 // {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
1050 {"dWorldQuickStep", (void **) &dWorldQuickStep},
1051 {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations},
1052 // {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations},
1053 // {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW},
1054 // {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW},
1055 // {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel},
1056 // {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel},
1057 {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer},
1058 // {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer},
1059 // {"dWorldStepFast1", (void **) &dWorldStepFast1},
1060 // {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1},
1061 // {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1},
1062 // {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold},
1063 {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
1064 // {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
1065 {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
1066 // {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
1067 // {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
1068 // {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
1069 // {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
1070 // {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
1071 {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
1072 // {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
1073 {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
1074 // {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
1075 {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
1076 // {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
1077 {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
1078 // {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
1079 {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
1080 // {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
1081 {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
1082 // {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
1083 {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
1084 // {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
1085 {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
1086 // {"dWorldSetDamping", (void **) &dWorldSetDamping},
1087 // {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed},
1088 // {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed},
1089 // {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold},
1090 // {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold},
1091 // {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold},
1092 // {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold},
1093 // {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount},
1094 // {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount},
1095 // {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps},
1096 // {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps},
1097 // {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime},
1098 // {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime},
1099 // {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag},
1100 // {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag},
1101 // {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults},
1102 // {"dBodyGetWorld", (void **) &dBodyGetWorld},
1103 {"dBodyCreate", (void **) &dBodyCreate},
1104 {"dBodyDestroy", (void **) &dBodyDestroy},
1105 {"dBodySetData", (void **) &dBodySetData},
1106 {"dBodyGetData", (void **) &dBodyGetData},
1107 {"dBodySetPosition", (void **) &dBodySetPosition},
1108 {"dBodySetRotation", (void **) &dBodySetRotation},
1109 // {"dBodySetQuaternion", (void **) &dBodySetQuaternion},
1110 {"dBodySetLinearVel", (void **) &dBodySetLinearVel},
1111 {"dBodySetAngularVel", (void **) &dBodySetAngularVel},
1112 {"dBodyGetPosition", (void **) &dBodyGetPosition},
1113 // {"dBodyCopyPosition", (void **) &dBodyCopyPosition},
1114 {"dBodyGetRotation", (void **) &dBodyGetRotation},
1115 // {"dBodyCopyRotation", (void **) &dBodyCopyRotation},
1116 // {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion},
1117 // {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion},
1118 {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel},
1119 {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
1120 {"dBodySetMass", (void **) &dBodySetMass},
1121 // {"dBodyGetMass", (void **) &dBodyGetMass},
1122 {"dBodyAddForce", (void **) &dBodyAddForce},
1123 {"dBodyAddTorque", (void **) &dBodyAddTorque},
1124 // {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
1125 // {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
1126 {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
1127 // {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
1128 // {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
1129 // {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
1130 // {"dBodyGetForce", (void **) &dBodyGetForce},
1131 // {"dBodyGetTorque", (void **) &dBodyGetTorque},
1132 // {"dBodySetForce", (void **) &dBodySetForce},
1133 // {"dBodySetTorque", (void **) &dBodySetTorque},
1134 // {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos},
1135 // {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel},
1136 // {"dBodyGetPointVel", (void **) &dBodyGetPointVel},
1137 // {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint},
1138 // {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld},
1139 // {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld},
1140 // {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode},
1141 // {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis},
1142 // {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode},
1143 // {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis},
1144 {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints},
1145 {"dBodyGetJoint", (void **) &dBodyGetJoint},
1146 // {"dBodySetDynamic", (void **) &dBodySetDynamic},
1147 // {"dBodySetKinematic", (void **) &dBodySetKinematic},
1148 // {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
1149 {"dBodyEnable", (void **) &dBodyEnable},
1150 {"dBodyDisable", (void **) &dBodyDisable},
1151 {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
1152 {"dBodySetGravityMode", (void **) &dBodySetGravityMode},
1153 {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
1154 // {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
1155 // {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom},
1156 // {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
1157 // {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
1158 // {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
1159 // {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
1160 // {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
1161 // {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
1162 // {"dBodySetDamping", (void **) &dBodySetDamping},
1163 // {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
1164 // {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
1165 // {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
1166 // {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
1167 // {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
1168 // {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
1169 // {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
1170 // {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
1171 {"dJointCreateBall", (void **) &dJointCreateBall},
1172 {"dJointCreateHinge", (void **) &dJointCreateHinge},
1173 {"dJointCreateSlider", (void **) &dJointCreateSlider},
1174 {"dJointCreateContact", (void **) &dJointCreateContact},
1175 {"dJointCreateHinge2", (void **) &dJointCreateHinge2},
1176 {"dJointCreateUniversal", (void **) &dJointCreateUniversal},
1177 // {"dJointCreatePR", (void **) &dJointCreatePR},
1178 // {"dJointCreatePU", (void **) &dJointCreatePU},
1179 // {"dJointCreatePiston", (void **) &dJointCreatePiston},
1180 {"dJointCreateFixed", (void **) &dJointCreateFixed},
1181 // {"dJointCreateNull", (void **) &dJointCreateNull},
1182 // {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
1183 // {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
1184 // {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D},
1185 {"dJointDestroy", (void **) &dJointDestroy},
1186 {"dJointGroupCreate", (void **) &dJointGroupCreate},
1187 {"dJointGroupDestroy", (void **) &dJointGroupDestroy},
1188 {"dJointGroupEmpty", (void **) &dJointGroupEmpty},
1189 // {"dJointGetNumBodies", (void **) &dJointGetNumBodies},
1190 {"dJointAttach", (void **) &dJointAttach},
1191 // {"dJointEnable", (void **) &dJointEnable},
1192 // {"dJointDisable", (void **) &dJointDisable},
1193 // {"dJointIsEnabled", (void **) &dJointIsEnabled},
1194 {"dJointSetData", (void **) &dJointSetData},
1195 {"dJointGetData", (void **) &dJointGetData},
1196 // {"dJointGetType", (void **) &dJointGetType},
1197 {"dJointGetBody", (void **) &dJointGetBody},
1198 // {"dJointSetFeedback", (void **) &dJointSetFeedback},
1199 // {"dJointGetFeedback", (void **) &dJointGetFeedback},
1200 {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor},
1201 // {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2},
1202 {"dJointSetBallParam", (void **) &dJointSetBallParam},
1203 {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor},
1204 // {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta},
1205 {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis},
1206 // {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset},
1207 {"dJointSetHingeParam", (void **) &dJointSetHingeParam},
1208 // {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque},
1209 {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis},
1210 // {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta},
1211 {"dJointSetSliderParam", (void **) &dJointSetSliderParam},
1212 // {"dJointAddSliderForce", (void **) &dJointAddSliderForce},
1213 {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor},
1214 {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1},
1215 {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2},
1216 {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param},
1217 // {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques},
1218 {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor},
1219 {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1},
1220 // {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset},
1221 {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2},
1222 // {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset},
1223 {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam},
1224 // {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques},
1225 // {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor},
1226 // {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1},
1227 // {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2},
1228 // {"dJointSetPRParam", (void **) &dJointSetPRParam},
1229 // {"dJointAddPRTorque", (void **) &dJointAddPRTorque},
1230 // {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor},
1231 // {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset},
1232 // {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1},
1233 // {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2},
1234 // {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3},
1235 // {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP},
1236 // {"dJointSetPUParam", (void **) &dJointSetPUParam},
1237 // {"dJointAddPUTorque", (void **) &dJointAddPUTorque},
1238 // {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor},
1239 // {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset},
1240 // {"dJointSetPistonParam", (void **) &dJointSetPistonParam},
1241 // {"dJointAddPistonForce", (void **) &dJointAddPistonForce},
1242 // {"dJointSetFixed", (void **) &dJointSetFixed},
1243 // {"dJointSetFixedParam", (void **) &dJointSetFixedParam},
1244 // {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes},
1245 // {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis},
1246 // {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle},
1247 // {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam},
1248 // {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode},
1249 // {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques},
1250 // {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes},
1251 // {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis},
1252 // {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam},
1253 // {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam},
1254 // {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam},
1255 // {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam},
1256 // {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor},
1257 // {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2},
1258 // {"dJointGetBallParam", (void **) &dJointGetBallParam},
1259 // {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor},
1260 // {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2},
1261 // {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis},
1262 // {"dJointGetHingeParam", (void **) &dJointGetHingeParam},
1263 // {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle},
1264 // {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate},
1265 // {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition},
1266 // {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate},
1267 // {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis},
1268 // {"dJointGetSliderParam", (void **) &dJointGetSliderParam},
1269 // {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor},
1270 // {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2},
1271 // {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1},
1272 // {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2},
1273 // {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param},
1274 // {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1},
1275 // {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate},
1276 // {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate},
1277 // {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor},
1278 // {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2},
1279 // {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1},
1280 // {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2},
1281 // {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam},
1282 // {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles},
1283 // {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1},
1284 // {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2},
1285 // {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate},
1286 // {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate},
1287 // {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor},
1288 // {"dJointGetPRPosition", (void **) &dJointGetPRPosition},
1289 // {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate},
1290 // {"dJointGetPRAngle", (void **) &dJointGetPRAngle},
1291 // {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate},
1292 // {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1},
1293 // {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2},
1294 // {"dJointGetPRParam", (void **) &dJointGetPRParam},
1295 // {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor},
1296 // {"dJointGetPUPosition", (void **) &dJointGetPUPosition},
1297 // {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate},
1298 // {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1},
1299 // {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2},
1300 // {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3},
1301 // {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP},
1302 // {"dJointGetPUAngles", (void **) &dJointGetPUAngles},
1303 // {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1},
1304 // {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate},
1305 // {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2},
1306 // {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate},
1307 // {"dJointGetPUParam", (void **) &dJointGetPUParam},
1308 // {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition},
1309 // {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate},
1310 // {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle},
1311 // {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate},
1312 // {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor},
1313 // {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2},
1314 // {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis},
1315 // {"dJointGetPistonParam", (void **) &dJointGetPistonParam},
1316 // {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes},
1317 // {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis},
1318 // {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel},
1319 // {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle},
1320 // {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate},
1321 // {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam},
1322 // {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode},
1323 // {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes},
1324 // {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis},
1325 // {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam},
1326 // {"dJointGetFixedParam", (void **) &dJointGetFixedParam},
1327 // {"dConnectingJoint", (void **) &dConnectingJoint},
1328 // {"dConnectingJointList", (void **) &dConnectingJointList},
1329 {"dAreConnected", (void **) &dAreConnected},
1330 {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding},
1331 {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate},
1332 {"dHashSpaceCreate", (void **) &dHashSpaceCreate},
1333 {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate},
1334 // {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
1335 {"dSpaceDestroy", (void **) &dSpaceDestroy},
1336 // {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels},
1337 // {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels},
1338 // {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup},
1339 // {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup},
1340 // {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel},
1341 // {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel},
1342 // {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup},
1343 // {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup},
1344 // {"dSpaceAdd", (void **) &dSpaceAdd},
1345 // {"dSpaceRemove", (void **) &dSpaceRemove},
1346 // {"dSpaceQuery", (void **) &dSpaceQuery},
1347 // {"dSpaceClean", (void **) &dSpaceClean},
1348 // {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms},
1349 // {"dSpaceGetGeom", (void **) &dSpaceGetGeom},
1350 // {"dSpaceGetClass", (void **) &dSpaceGetClass},
1351 {"dGeomDestroy", (void **) &dGeomDestroy},
1352 {"dGeomSetData", (void **) &dGeomSetData},
1353 {"dGeomGetData", (void **) &dGeomGetData},
1354 {"dGeomSetBody", (void **) &dGeomSetBody},
1355 {"dGeomGetBody", (void **) &dGeomGetBody},
1356 {"dGeomSetPosition", (void **) &dGeomSetPosition},
1357 {"dGeomSetRotation", (void **) &dGeomSetRotation},
1358 // {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
1359 // {"dGeomGetPosition", (void **) &dGeomGetPosition},
1360 // {"dGeomCopyPosition", (void **) &dGeomCopyPosition},
1361 // {"dGeomGetRotation", (void **) &dGeomGetRotation},
1362 // {"dGeomCopyRotation", (void **) &dGeomCopyRotation},
1363 // {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion},
1364 // {"dGeomGetAABB", (void **) &dGeomGetAABB},
1365 {"dGeomIsSpace", (void **) &dGeomIsSpace},
1366 // {"dGeomGetSpace", (void **) &dGeomGetSpace},
1367 // {"dGeomGetClass", (void **) &dGeomGetClass},
1368 // {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits},
1369 // {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits},
1370 // {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits},
1371 // {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits},
1372 // {"dGeomEnable", (void **) &dGeomEnable},
1373 // {"dGeomDisable", (void **) &dGeomDisable},
1374 // {"dGeomIsEnabled", (void **) &dGeomIsEnabled},
1375 // {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition},
1376 // {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation},
1377 // {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion},
1378 // {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition},
1379 // {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation},
1380 // {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion},
1381 // {"dGeomClearOffset", (void **) &dGeomClearOffset},
1382 // {"dGeomIsOffset", (void **) &dGeomIsOffset},
1383 // {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition},
1384 // {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition},
1385 // {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation},
1386 // {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation},
1387 // {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion},
1388 {"dCollide", (void **) &dCollide},
1389 {"dSpaceCollide", (void **) &dSpaceCollide},
1390 {"dSpaceCollide2", (void **) &dSpaceCollide2},
1391 {"dCreateSphere", (void **) &dCreateSphere},
1392 // {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
1393 // {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
1394 // {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
1395 {"dCreateConvex", (void **) &dCreateConvex},
1396 // {"dGeomSetConvex", (void **) &dGeomSetConvex},
1397 {"dCreateBox", (void **) &dCreateBox},
1398 // {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
1399 // {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths},
1400 // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1401 // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1402 // {"dCreatePlane", (void **) &dCreatePlane},
1403 // {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams},
1404 // {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams},
1405 // {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth},
1406 {"dCreateCapsule", (void **) &dCreateCapsule},
1407 // {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams},
1408 // {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams},
1409 // {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth},
1410 {"dCreateCylinder", (void **) &dCreateCylinder},
1411 // {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams},
1412 // {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams},
1413 // {"dCreateRay", (void **) &dCreateRay},
1414 // {"dGeomRaySetLength", (void **) &dGeomRaySetLength},
1415 // {"dGeomRayGetLength", (void **) &dGeomRayGetLength},
1416 // {"dGeomRaySet", (void **) &dGeomRaySet},
1417 // {"dGeomRayGet", (void **) &dGeomRayGet},
1418 {"dCreateGeomTransform", (void **) &dCreateGeomTransform},
1419 {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom},
1420 // {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom},
1421 {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup},
1422 // {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup},
1423 // {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo},
1424 // {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo},
1425 {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate},
1426 {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy},
1427 // {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet},
1428 // {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet},
1429 // {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform},
1430 // {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform},
1431 {"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle},
1432 // {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1},
1433 // {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble},
1434 // {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1},
1435 // {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple},
1436 // {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1},
1437 // {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess},
1438 // {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer},
1439 // {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer},
1440 // {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback},
1441 // {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback},
1442 // {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback},
1443 // {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback},
1444 // {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback},
1445 // {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback},
1446 // {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback},
1447 // {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback},
1448 {"dCreateTriMesh", (void **) &dCreateTriMesh},
1449 // {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData},
1450 // {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData},
1451 // {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC},
1452 // {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled},
1453 // {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache},
1454 // {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID},
1455 // {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle},
1456 // {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint},
1457 // {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount},
1458 // {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate},
1462 // Handle for ODE DLL
1463 dllhandle_t ode_dll = NULL;
1467 static void World_Physics_Init(void)
1471 const char* dllnames [] =
1475 # elif defined(MACOSX)
1484 Cvar_RegisterVariable(&physics_ode_quadtree_depth);
1485 Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
1486 Cvar_RegisterVariable(&physics_ode_worldstep_iterations);
1487 Cvar_RegisterVariable(&physics_ode_contact_mu);
1488 Cvar_RegisterVariable(&physics_ode_contact_erp);
1489 Cvar_RegisterVariable(&physics_ode_contact_cfm);
1490 Cvar_RegisterVariable(&physics_ode_contact_maxpoints);
1491 Cvar_RegisterVariable(&physics_ode_world_erp);
1492 Cvar_RegisterVariable(&physics_ode_world_cfm);
1493 Cvar_RegisterVariable(&physics_ode_world_damping);
1494 Cvar_RegisterVariable(&physics_ode_world_damping_linear);
1495 Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold);
1496 Cvar_RegisterVariable(&physics_ode_world_damping_angular);
1497 Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold);
1498 Cvar_RegisterVariable(&physics_ode_world_gravitymod);
1499 Cvar_RegisterVariable(&physics_ode_iterationsperframe);
1500 Cvar_RegisterVariable(&physics_ode_constantstep);
1501 Cvar_RegisterVariable(&physics_ode_movelimit);
1502 Cvar_RegisterVariable(&physics_ode_spinlimit);
1503 Cvar_RegisterVariable(&physics_ode_trick_fixnan);
1504 Cvar_RegisterVariable(&physics_ode_autodisable);
1505 Cvar_RegisterVariable(&physics_ode_autodisable_steps);
1506 Cvar_RegisterVariable(&physics_ode_autodisable_time);
1507 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_linear);
1508 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular);
1509 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples);
1510 Cvar_RegisterVariable(&physics_ode_printstats);
1511 Cvar_RegisterVariable(&physics_ode_allowconvex);
1512 Cvar_RegisterVariable(&physics_ode);
1516 if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
1523 if (!dCheckConfiguration("ODE_single_precision"))
1525 if (!dCheckConfiguration("ODE_double_precision"))
1529 Con_Printf("ODE library not compiled for single precision - incompatible! Not using ODE physics.\n");
1531 Con_Printf("ODE library not compiled for double precision - incompatible! Not using ODE physics.\n");
1533 Sys_UnloadLibrary(&ode_dll);
1539 Con_Printf("ODE library loaded with single precision.\n");
1541 Con_Printf("ODE library loaded with double precision.\n");
1543 Con_Printf("ODE configuration list: %s\n", dGetConfiguration());
1550 static void World_Physics_Shutdown(void)
1559 Sys_UnloadLibrary(&ode_dll);
1567 static void World_Physics_UpdateODE(world_t *world)
1571 odeworld = (dWorldID)world->physics.ode_world;
1574 if (physics_ode_world_erp.value >= 0)
1575 dWorldSetERP(odeworld, physics_ode_world_erp.value);
1576 if (physics_ode_world_cfm.value >= 0)
1577 dWorldSetCFM(odeworld, physics_ode_world_cfm.value);
1579 if (physics_ode_world_damping.integer)
1581 dWorldSetLinearDamping(odeworld, (physics_ode_world_damping_linear.value >= 0) ? (physics_ode_world_damping_linear.value * physics_ode_world_damping.value) : 0);
1582 dWorldSetLinearDampingThreshold(odeworld, (physics_ode_world_damping_linear_threshold.value >= 0) ? (physics_ode_world_damping_linear_threshold.value * physics_ode_world_damping.value) : 0);
1583 dWorldSetAngularDamping(odeworld, (physics_ode_world_damping_angular.value >= 0) ? (physics_ode_world_damping_angular.value * physics_ode_world_damping.value) : 0);
1584 dWorldSetAngularDampingThreshold(odeworld, (physics_ode_world_damping_angular_threshold.value >= 0) ? (physics_ode_world_damping_angular_threshold.value * physics_ode_world_damping.value) : 0);
1588 dWorldSetLinearDamping(odeworld, 0);
1589 dWorldSetLinearDampingThreshold(odeworld, 0);
1590 dWorldSetAngularDamping(odeworld, 0);
1591 dWorldSetAngularDampingThreshold(odeworld, 0);
1594 dWorldSetAutoDisableFlag(odeworld, (physics_ode_autodisable.integer) ? 1 : 0);
1595 if (physics_ode_autodisable.integer)
1597 dWorldSetAutoDisableSteps(odeworld, bound(1, physics_ode_autodisable_steps.integer, 100));
1598 dWorldSetAutoDisableTime(odeworld, physics_ode_autodisable_time.value);
1599 dWorldSetAutoDisableAverageSamplesCount(odeworld, bound(1, physics_ode_autodisable_threshold_samples.integer, 100));
1600 dWorldSetAutoDisableLinearThreshold(odeworld, physics_ode_autodisable_threshold_linear.value);
1601 dWorldSetAutoDisableAngularThreshold(odeworld, physics_ode_autodisable_threshold_angular.value);
1605 static void World_Physics_EnableODE(world_t *world)
1607 dVector3 center, extents;
1608 if (world->physics.ode)
1614 world->physics.ode = true;
1615 VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
1616 VectorSubtract(world->maxs, center, extents);
1617 world->physics.ode_world = dWorldCreate();
1618 world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
1619 world->physics.ode_contactgroup = dJointGroupCreate(0);
1621 World_Physics_UpdateODE(world);
1625 static void World_Physics_Start(world_t *world)
1628 if (world->physics.ode)
1630 World_Physics_EnableODE(world);
1634 static void World_Physics_End(world_t *world)
1637 if (world->physics.ode)
1639 dWorldDestroy((dWorldID)world->physics.ode_world);
1640 dSpaceDestroy((dSpaceID)world->physics.ode_space);
1641 dJointGroupDestroy((dJointGroupID)world->physics.ode_contactgroup);
1642 world->physics.ode = false;
1647 void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
1649 ed->priv.server->ode_joint_type = 0;
1651 if(ed->priv.server->ode_joint)
1652 dJointDestroy((dJointID)ed->priv.server->ode_joint);
1653 ed->priv.server->ode_joint = NULL;
1657 void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
1659 edict_odefunc_t *f, *nf;
1661 // entity is not physics controlled, free any physics data
1662 ed->priv.server->ode_physics = false;
1664 if (ed->priv.server->ode_geom)
1665 dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
1666 ed->priv.server->ode_geom = NULL;
1667 if (ed->priv.server->ode_body)
1672 while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
1674 j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
1675 ed2 = (prvm_edict_t *) dJointGetData(j);
1676 b1 = dJointGetBody(j, 0);
1677 b2 = dJointGetBody(j, 1);
1678 if(b1 == (dBodyID)ed->priv.server->ode_body)
1681 ed2->priv.server->ode_joint_enemy = 0;
1683 if(b2 == (dBodyID)ed->priv.server->ode_body)
1686 ed2->priv.server->ode_joint_aiment = 0;
1688 dJointAttach(j, b1, b2);
1690 dBodyDestroy((dBodyID)ed->priv.server->ode_body);
1692 ed->priv.server->ode_body = NULL;
1694 if (ed->priv.server->ode_vertex3f)
1695 Mem_Free(ed->priv.server->ode_vertex3f);
1696 ed->priv.server->ode_vertex3f = NULL;
1697 ed->priv.server->ode_numvertices = 0;
1698 if (ed->priv.server->ode_element3i)
1699 Mem_Free(ed->priv.server->ode_element3i);
1700 ed->priv.server->ode_element3i = NULL;
1701 ed->priv.server->ode_numtriangles = 0;
1702 if(ed->priv.server->ode_massbuf)
1703 Mem_Free(ed->priv.server->ode_massbuf);
1704 ed->priv.server->ode_massbuf = NULL;
1705 // clear functions stack
1706 for(f = ed->priv.server->ode_func; f; f = nf)
1711 ed->priv.server->ode_func = NULL;
1714 void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f)
1716 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1721 case ODEFUNC_ENABLE:
1724 case ODEFUNC_DISABLE:
1729 dBodyAddForceAtPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
1731 case ODEFUNC_TORQUE:
1733 dBodyAddTorque(body, f->v1[0], f->v1[1], f->v1[2]);
1742 static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
1744 prvm_prog_t *prog = world->prog;
1747 const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
1749 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1751 matrix4x4_t bodymatrix;
1752 matrix4x4_t entitymatrix;
1755 vec3_t forward, left, up;
1757 vec3_t spinvelocity;
1762 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1763 if (movetype != MOVETYPE_PHYSICS)
1765 jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
1768 // TODO feed back data from physics
1769 case JOINTTYPE_POINT:
1771 case JOINTTYPE_HINGE:
1773 case JOINTTYPE_SLIDER:
1775 case JOINTTYPE_UNIVERSAL:
1777 case JOINTTYPE_HINGE2:
1779 case JOINTTYPE_FIXED:
1784 // store the physics engine data into the entity
1785 o = dBodyGetPosition(body);
1786 r = dBodyGetRotation(body);
1787 vel = dBodyGetLinearVel(body);
1788 avel = dBodyGetAngularVel(body);
1789 VectorCopy(o, origin);
1799 VectorCopy(vel, velocity);
1800 VectorCopy(avel, spinvelocity);
1801 Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
1802 Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
1803 Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
1805 AnglesFromVectors(angles, forward, up, false);
1806 VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));
1809 float pitchsign = 1;
1810 if(prog == SVVM_prog) // FIXME some better way?
1812 pitchsign = SV_GetPitchSign(prog, ed);
1814 else if(prog == CLVM_prog)
1816 pitchsign = CL_GetPitchSign(prog, ed);
1818 angles[PITCH] *= pitchsign;
1819 avelocity[PITCH] *= pitchsign;
1822 VectorCopy(origin, PRVM_gameedictvector(ed, origin));
1823 VectorCopy(velocity, PRVM_gameedictvector(ed, velocity));
1824 //VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward));
1825 //VectorCopy(left, PRVM_gameedictvector(ed, axis_left));
1826 //VectorCopy(up, PRVM_gameedictvector(ed, axis_up));
1827 //VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity));
1828 VectorCopy(angles, PRVM_gameedictvector(ed, angles));
1829 VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity));
1831 // values for BodyFromEntity to check if the qc modified anything later
1832 VectorCopy(origin, ed->priv.server->ode_origin);
1833 VectorCopy(velocity, ed->priv.server->ode_velocity);
1834 VectorCopy(angles, ed->priv.server->ode_angles);
1835 VectorCopy(avelocity, ed->priv.server->ode_avelocity);
1836 ed->priv.server->ode_gravity = dBodyGetGravityMode(body) != 0;
1838 if(prog == SVVM_prog) // FIXME some better way?
1841 SV_LinkEdict_TouchAreaGrid(ed);
1845 static void World_Physics_Frame_ForceFromEntity(world_t *world, prvm_edict_t *ed)
1847 prvm_prog_t *prog = world->prog;
1848 int forcetype = 0, movetype = 0, enemy = 0;
1849 vec3_t movedir, origin;
1851 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1852 forcetype = (int)PRVM_gameedictfloat(ed, forcetype);
1853 if (movetype == MOVETYPE_PHYSICS)
1854 forcetype = FORCETYPE_NONE; // can't have both
1857 enemy = PRVM_gameedictedict(ed, enemy);
1858 if (enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
1860 VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
1861 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
1862 dBodyEnable((dBodyID)prog->edicts[enemy].priv.server->ode_body);
1865 case FORCETYPE_FORCE:
1866 if (movedir[0] || movedir[1] || movedir[2])
1867 dBodyAddForce((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
1869 case FORCETYPE_FORCEATPOS:
1870 if (movedir[0] || movedir[1] || movedir[2])
1871 dBodyAddForceAtPos((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2], origin[0], origin[1], origin[2]);
1873 case FORCETYPE_TORQUE:
1874 if (movedir[0] || movedir[1] || movedir[2])
1875 dBodyAddTorque((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
1877 case FORCETYPE_NONE:
1884 static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
1886 prvm_prog_t *prog = world->prog;
1892 int enemy = 0, aiment = 0;
1893 vec3_t origin, velocity, angles, forward, left, up, movedir;
1894 vec_t CFM, ERP, FMax, Stop, Vel;
1896 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1897 jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
1898 VectorClear(origin);
1899 VectorClear(velocity);
1900 VectorClear(angles);
1901 VectorClear(movedir);
1902 enemy = PRVM_gameedictedict(ed, enemy);
1903 aiment = PRVM_gameedictedict(ed, aiment);
1904 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
1905 VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
1906 VectorCopy(PRVM_gameedictvector(ed, angles), angles);
1907 VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
1908 if(movetype == MOVETYPE_PHYSICS)
1909 jointtype = JOINTTYPE_NONE; // can't have both
1910 if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
1912 if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
1914 // see http://www.ode.org/old_list_archives/2006-January/017614.html
1915 // we want to set ERP? make it fps independent and work like a spring constant
1916 // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
1917 if(movedir[0] > 0 && movedir[1] > 0)
1919 float K = movedir[0];
1920 float D = movedir[1];
1921 float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
1922 CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0
1923 ERP = world->physics.ode_step * K * CFM;
1928 else if(movedir[1] < 0)
1933 FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
1934 Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
1936 else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
1944 if(jointtype == ed->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment && VectorCompare(movedir, ed->priv.server->ode_joint_movedir))
1945 return; // nothing to do
1946 AngleVectorsFLU(angles, forward, left, up);
1949 case JOINTTYPE_POINT:
1950 j = dJointCreateBall((dWorldID)world->physics.ode_world, 0);
1952 case JOINTTYPE_HINGE:
1953 j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0);
1955 case JOINTTYPE_SLIDER:
1956 j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0);
1958 case JOINTTYPE_UNIVERSAL:
1959 j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0);
1961 case JOINTTYPE_HINGE2:
1962 j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0);
1964 case JOINTTYPE_FIXED:
1965 j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
1967 case JOINTTYPE_NONE:
1973 if(ed->priv.server->ode_joint)
1975 //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
1976 dJointAttach((dJointID)ed->priv.server->ode_joint, 0, 0);
1977 dJointDestroy((dJointID)ed->priv.server->ode_joint);
1979 ed->priv.server->ode_joint = (void *) j;
1980 ed->priv.server->ode_joint_type = jointtype;
1981 ed->priv.server->ode_joint_enemy = enemy;
1982 ed->priv.server->ode_joint_aiment = aiment;
1983 VectorCopy(origin, ed->priv.server->ode_joint_origin);
1984 VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
1985 VectorCopy(angles, ed->priv.server->ode_joint_angles);
1986 VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
1989 //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
1990 dJointSetData(j, (void *) ed);
1992 b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
1994 b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
1995 dJointAttach(j, b1, b2);
1999 case JOINTTYPE_POINT:
2000 dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
2002 case JOINTTYPE_HINGE:
2003 dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
2004 dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
2005 dJointSetHingeParam(j, dParamFMax, FMax);
2006 dJointSetHingeParam(j, dParamHiStop, Stop);
2007 dJointSetHingeParam(j, dParamLoStop, -Stop);
2008 dJointSetHingeParam(j, dParamStopCFM, CFM);
2009 dJointSetHingeParam(j, dParamStopERP, ERP);
2010 dJointSetHingeParam(j, dParamVel, Vel);
2012 case JOINTTYPE_SLIDER:
2013 dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
2014 dJointSetSliderParam(j, dParamFMax, FMax);
2015 dJointSetSliderParam(j, dParamHiStop, Stop);
2016 dJointSetSliderParam(j, dParamLoStop, -Stop);
2017 dJointSetSliderParam(j, dParamStopCFM, CFM);
2018 dJointSetSliderParam(j, dParamStopERP, ERP);
2019 dJointSetSliderParam(j, dParamVel, Vel);
2021 case JOINTTYPE_UNIVERSAL:
2022 dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
2023 dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
2024 dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
2025 dJointSetUniversalParam(j, dParamFMax, FMax);
2026 dJointSetUniversalParam(j, dParamHiStop, Stop);
2027 dJointSetUniversalParam(j, dParamLoStop, -Stop);
2028 dJointSetUniversalParam(j, dParamStopCFM, CFM);
2029 dJointSetUniversalParam(j, dParamStopERP, ERP);
2030 dJointSetUniversalParam(j, dParamVel, Vel);
2031 dJointSetUniversalParam(j, dParamFMax2, FMax);
2032 dJointSetUniversalParam(j, dParamHiStop2, Stop);
2033 dJointSetUniversalParam(j, dParamLoStop2, -Stop);
2034 dJointSetUniversalParam(j, dParamStopCFM2, CFM);
2035 dJointSetUniversalParam(j, dParamStopERP2, ERP);
2036 dJointSetUniversalParam(j, dParamVel2, Vel);
2038 case JOINTTYPE_HINGE2:
2039 dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
2040 dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
2041 dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
2042 dJointSetHinge2Param(j, dParamFMax, FMax);
2043 dJointSetHinge2Param(j, dParamHiStop, Stop);
2044 dJointSetHinge2Param(j, dParamLoStop, -Stop);
2045 dJointSetHinge2Param(j, dParamStopCFM, CFM);
2046 dJointSetHinge2Param(j, dParamStopERP, ERP);
2047 dJointSetHinge2Param(j, dParamVel, Vel);
2048 dJointSetHinge2Param(j, dParamFMax2, FMax);
2049 dJointSetHinge2Param(j, dParamHiStop2, Stop);
2050 dJointSetHinge2Param(j, dParamLoStop2, -Stop);
2051 dJointSetHinge2Param(j, dParamStopCFM2, CFM);
2052 dJointSetHinge2Param(j, dParamStopERP2, ERP);
2053 dJointSetHinge2Param(j, dParamVel2, Vel);
2055 case JOINTTYPE_FIXED:
2059 Sys_Error("what? but above the joint was valid...\n");
2067 // test convex geometry data
2068 // planes for a cube, these should coincide with the
2069 dReal test_convex_planes[] =
2071 1.0f ,0.0f ,0.0f ,2.25f,
2072 0.0f ,1.0f ,0.0f ,2.25f,
2073 0.0f ,0.0f ,1.0f ,2.25f,
2074 -1.0f,0.0f ,0.0f ,2.25f,
2075 0.0f ,-1.0f,0.0f ,2.25f,
2076 0.0f ,0.0f ,-1.0f,2.25f
2078 const unsigned int test_convex_planecount = 6;
2079 // points for a cube
2080 dReal test_convex_points[] =
2082 2.25f,2.25f,2.25f, // point 0
2083 -2.25f,2.25f,2.25f, // point 1
2084 2.25f,-2.25f,2.25f, // point 2
2085 -2.25f,-2.25f,2.25f, // point 3
2086 2.25f,2.25f,-2.25f, // point 4
2087 -2.25f,2.25f,-2.25f, // point 5
2088 2.25f,-2.25f,-2.25f, // point 6
2089 -2.25f,-2.25f,-2.25f, // point 7
2091 const unsigned int test_convex_pointcount = 8;
2092 // polygons for a cube (6 squares), index
2093 unsigned int test_convex_polygons[] =
2095 4,0,2,6,4, // positive X
2096 4,1,0,4,5, // positive Y
2097 4,0,1,3,2, // positive Z
2098 4,3,1,5,7, // negative X
2099 4,2,3,7,6, // negative Y
2100 4,5,4,6,7, // negative Z
2103 static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
2105 prvm_prog_t *prog = world->prog;
2108 dBodyID body = (dBodyID)ed->priv.server->ode_body;
2110 const dReal *ovelocity, *ospinvelocity;
2117 int movetype = MOVETYPE_NONE;
2120 int solid = SOLID_NOT, geomtype = 0;
2124 qboolean modified = false;
2134 vec3_t spinvelocity;
2139 vec_t massval = 1.0f;
2146 qboolean geom_modified = false;
2147 edict_odefunc_t *func, *nextf;
2149 dReal *planes, *planesData, *pointsData;
2150 unsigned int *polygons, *polygonsData, polyvert;
2151 qboolean *mapped, *used, convex_compatible;
2152 int numplanes = 0, numpoints = 0, i;
2158 VectorClear(entmins);
2159 VectorClear(entmaxs);
2161 solid = (int)PRVM_gameedictfloat(ed, solid);
2162 geomtype = (int)PRVM_gameedictfloat(ed, geomtype);
2163 movetype = (int)PRVM_gameedictfloat(ed, movetype);
2164 // support scale and q3map/radiant's modelscale_vec
2165 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)
2166 VectorCopy(PRVM_gameedictvector(ed, modelscale_vec), scale);
2167 else if (PRVM_gameedictfloat(ed, scale))
2168 VectorSet(scale, PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale));
2170 VectorSet(scale, 1.0f, 1.0f, 1.0f);
2172 if (PRVM_gameedictfloat(ed, mass))
2173 massval = PRVM_gameedictfloat(ed, mass);
2174 if (movetype != MOVETYPE_PHYSICS)
2176 mempool = prog->progs_mempool;
2180 // VorteX: keep support for deprecated solid fields to not break mods
2181 if (solid == SOLID_PHYSICS_TRIMESH || solid == SOLID_BSP)
2182 geomtype = GEOMTYPE_TRIMESH;
2183 else if (solid == SOLID_NOT || solid == SOLID_TRIGGER)
2184 geomtype = GEOMTYPE_NONE;
2185 else if (solid == SOLID_PHYSICS_SPHERE)
2186 geomtype = GEOMTYPE_SPHERE;
2187 else if (solid == SOLID_PHYSICS_CAPSULE)
2188 geomtype = GEOMTYPE_CAPSULE;
2189 else if (solid == SOLID_PHYSICS_CYLINDER)
2190 geomtype = GEOMTYPE_CYLINDER;
2191 else if (solid == SOLID_PHYSICS_BOX)
2192 geomtype = GEOMTYPE_BOX;
2194 geomtype = GEOMTYPE_BOX;
2196 if (geomtype == GEOMTYPE_TRIMESH)
2198 modelindex = (int)PRVM_gameedictfloat(ed, modelindex);
2199 if (world == &sv.world)
2200 model = SV_GetModelByIndex(modelindex);
2201 else if (world == &cl.world)
2202 model = CL_GetModelByIndex(modelindex);
2207 entmins[0] = model->normalmins[0] * scale[0];
2208 entmins[1] = model->normalmins[1] * scale[1];
2209 entmins[2] = model->normalmins[2] * scale[2];
2210 entmaxs[0] = model->normalmaxs[0] * scale[0];
2211 entmaxs[1] = model->normalmaxs[1] * scale[1];
2212 entmaxs[2] = model->normalmaxs[2] * scale[2];
2213 geom_modified = !VectorCompare(ed->priv.server->ode_scale, scale) || ed->priv.server->ode_modelindex != modelindex;
2217 Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
2218 geomtype = GEOMTYPE_BOX;
2219 VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
2220 VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
2222 geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
2225 else if (geomtype && geomtype != GEOMTYPE_NONE)
2227 VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
2228 VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
2229 geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
2233 // geometry type not set, falling back
2234 if (ed->priv.server->ode_physics)
2235 World_Physics_RemoveFromEntity(world, ed);
2239 VectorSubtract(entmaxs, entmins, geomsize);
2240 if (VectorLength2(geomsize) == 0)
2242 // we don't allow point-size physics objects...
2243 if (ed->priv.server->ode_physics)
2244 World_Physics_RemoveFromEntity(world, ed);
2249 ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction) ? PRVM_gameedictfloat(ed, friction) : 1.0f;
2251 // check if we need to create or replace the geom
2252 if (!ed->priv.server->ode_physics || ed->priv.server->ode_mass != massval || geom_modified)
2255 World_Physics_RemoveFromEntity(world, ed);
2256 ed->priv.server->ode_physics = true;
2257 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
2258 if (PRVM_gameedictvector(ed, massofs))
2259 VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs));
2262 if (geomsize[0] * geomsize[1] * geomsize[2] == 0)
2264 if (movetype == MOVETYPE_PHYSICS)
2265 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)));
2266 VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
2272 case GEOMTYPE_TRIMESH:
2273 // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
2274 if (!model->brush.collisionmesh)
2275 Mod_CreateCollisionMesh(model);
2276 if (!model->brush.collisionmesh)
2278 Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
2282 // check if trimesh can be defined with convex
2283 convex_compatible = false;
2284 for (i = 0;i < model->nummodelsurfaces;i++)
2286 if (!strcmp(((msurface_t *)(model->data_surfaces + model->firstmodelsurface + i))->texture->name, "collisionconvex"))
2288 convex_compatible = true;
2293 // ODE requires persistent mesh storage, so we need to copy out
2294 // the data from the model because renderer restarts could free it
2295 // during the game, additionally we need to flip the triangles...
2296 // note: ODE does preprocessing of the mesh for culling, removing
2297 // concave edges, etc., so this is not a lightweight operation
2298 ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
2299 ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
2301 // VorteX: rebuild geomsize based on entity's collision mesh, honor scale
2302 VectorSet(entmins, 0, 0, 0);
2303 VectorSet(entmaxs, 0, 0, 0);
2304 for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
2306 ov[0] = iv[0] * scale[0];
2307 ov[1] = iv[1] * scale[1];
2308 ov[2] = iv[2] * scale[2];
2309 entmins[0] = min(entmins[0], ov[0]);
2310 entmins[1] = min(entmins[1], ov[1]);
2311 entmins[2] = min(entmins[2], ov[2]);
2312 entmaxs[0] = max(entmaxs[0], ov[0]);
2313 entmaxs[1] = max(entmaxs[1], ov[1]);
2314 entmaxs[2] = max(entmaxs[2], ov[2]);
2316 if (!PRVM_gameedictvector(ed, massofs))
2317 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
2318 for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
2320 ov[0] = ov[0] - geomcenter[0];
2321 ov[1] = ov[1] - geomcenter[1];
2322 ov[2] = ov[2] - geomcenter[2];
2324 VectorSubtract(entmaxs, entmins, geomsize);
2325 if (VectorLength2(geomsize) == 0)
2327 if (movetype == MOVETYPE_PHYSICS)
2328 Con_Printf("entity %i collision mesh has null geomsize\n", PRVM_NUM_FOR_EDICT(ed));
2329 VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
2331 ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
2332 ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
2333 //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
2334 for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
2341 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2342 if (!convex_compatible || !physics_ode_allowconvex.integer)
2345 dataID = dGeomTriMeshDataCreate();
2346 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]));
2347 ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL);
2348 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2352 // VorteX: this code is unfinished in two ways
2353 // - no duplicate vertex merging are done
2354 // - triangles that shares same edge and havee sam plane are not merget into poly
2355 // so, currently it only works for geosphere meshes with no UV
2357 Con_Printf("Build convex hull for model %s...\n", model->name);
2358 // build convex geometry from trimesh data
2359 // this ensures that trimesh's triangles can form correct convex geometry
2360 // not many of error checking is performed
2361 // ODE's conve hull data consist of:
2362 // planes : an array of planes in the form: normal X, normal Y, normal Z, distance
2363 // points : an array of points X,Y,Z
2364 // polygons: an array of indices to the points of each polygon,it should be the number of vertices
2365 // followed by that amount of indices to "points" in counter clockwise order
2366 polygonsData = polygons = (unsigned int *)Mem_Alloc(mempool, numtriangles*sizeof(int)*4);
2367 planesData = planes = (dReal *)Mem_Alloc(mempool, numtriangles*sizeof(dReal)*4);
2368 mapped = (qboolean *)Mem_Alloc(mempool, numvertices*sizeof(qboolean));
2369 used = (qboolean *)Mem_Alloc(mempool, numtriangles*sizeof(qboolean));
2370 memset(mapped, 0, numvertices*sizeof(qboolean));
2371 memset(used, 0, numtriangles*sizeof(qboolean));
2372 numplanes = numpoints = polyvert = 0;
2373 // build convex hull
2374 // todo: merge duplicated verts here
2375 Con_Printf("Building...\n");
2376 iv = ed->priv.server->ode_vertex3f;
2377 for (triangleindex = 0; triangleindex < numtriangles; triangleindex++)
2379 // already formed a polygon?
2380 if (used[triangleindex])
2383 // switch clockwise->counterclockwise
2384 ie = &model->brush.collisionmesh->element3i[triangleindex*3];
2385 used[triangleindex] = true;
2386 TriangleNormal(&iv[ie[0]*3], &iv[ie[1]*3], &iv[ie[2]*3], planes);
2387 VectorNormalize(planes);
2389 polygons[3] = (unsigned int)ie[0]; mapped[polygons[3]] = true;
2390 polygons[2] = (unsigned int)ie[1]; mapped[polygons[2]] = true;
2391 polygons[1] = (unsigned int)ie[2]; mapped[polygons[1]] = true;
2393 // now find and include concave triangles
2394 for (i = triangleindex; i < numtriangles; i++)
2398 // should share at least 2 vertexes
2399 for (polyvert = 1; polyvert <= polygons[0]; polyvert++)
2401 // todo: merge in triangles that shares an edge and have same plane here
2405 // add polygon to overall stats
2406 planes[3] = DotProduct(&iv[polygons[1]*3], planes);
2407 polygons += (polygons[0]+1);
2413 for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
2414 if (mapped[vertexindex])
2416 pointsData = (dReal *)Mem_Alloc(mempool, numpoints*sizeof(dReal)*3 + numplanes*sizeof(dReal)*4); // planes is appended
2417 for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
2419 if (mapped[vertexindex])
2421 VectorCopy(&iv[vertexindex*3], &pointsData[numpoints*3]);
2426 Con_Printf("Points: \n");
2427 for (i = 0; i < (int)numpoints; i++)
2428 Con_Printf("%3i: %3.1f %3.1f %3.1f\n", i, pointsData[i*3], pointsData[i*3+1], pointsData[i*3+2]);
2430 planes = planesData;
2431 planesData = pointsData + numpoints*3;
2432 memcpy(planesData, planes, numplanes*sizeof(dReal)*4);
2434 Con_Printf("planes...\n");
2435 for (i = 0; i < numplanes; i++)
2436 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]);
2438 polyvert = polygons - polygonsData;
2439 polygons = polygonsData;
2440 polygonsData = (unsigned int *)Mem_Alloc(mempool, polyvert*sizeof(int));
2441 memcpy(polygonsData, polygons, polyvert*sizeof(int));
2443 Con_Printf("Polygons: \n");
2444 polygons = polygonsData;
2445 for (i = 0; i < numplanes; i++)
2447 Con_Printf("%3i : %i ", i, polygons[0]);
2448 for (triangleindex = 1; triangleindex <= (int)polygons[0]; triangleindex++)
2449 Con_Printf("%3i ", polygons[triangleindex]);
2450 polygons += (polygons[0]+1);
2453 Mem_Free(ed->priv.server->ode_element3i);
2454 ed->priv.server->ode_element3i = (int *)polygonsData;
2455 Mem_Free(ed->priv.server->ode_vertex3f);
2456 ed->priv.server->ode_vertex3f = (float *)pointsData;
2457 // check for properly build polygons by calculating the determinant of the 3x3 matrix composed of the first 3 points in the polygon
2458 // this code is picked from ODE Source
2459 Con_Printf("Check...\n");
2460 polygons = polygonsData;
2461 for (i = 0; i < numplanes; i++)
2463 if((pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+2] +
2464 pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+0] +
2465 pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+1] -
2466 pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+0] -
2467 pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+2] -
2468 pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+1]) < 0)
2469 Con_Printf("WARNING: Polygon %d is not defined counterclockwise\n", i);
2470 if (planesData[(i*4)+3] < 0)
2471 Con_Printf("WARNING: Plane %d does not contain the origin\n", i);
2472 polygons += (*polygons + 1);
2475 Con_Printf("Create geom...\n");
2476 ed->priv.server->ode_geom = (void *)dCreateConvex((dSpaceID)world->physics.ode_space, planesData, numplanes, pointsData, numpoints, polygonsData);
2477 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2478 Con_Printf("Done!\n");
2483 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2484 ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
2485 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2487 case GEOMTYPE_SPHERE:
2488 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2489 ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f);
2490 dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
2492 case GEOMTYPE_CAPSULE:
2494 if (geomsize[axisindex] < geomsize[1])
2496 if (geomsize[axisindex] < geomsize[2])
2498 // the qc gives us 3 axis radius, the longest axis is the capsule
2499 // axis, since ODE doesn't like this idea we have to create a
2500 // capsule which uses the standard orientation, and apply a
2504 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2505 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2507 else if (axisindex == 1)
2509 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2510 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2514 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2515 radius = min(geomsize[0], geomsize[1]) * 0.5f;
2517 length = geomsize[axisindex] - radius*2;
2518 // because we want to support more than one axisindex, we have to
2519 // create a transform, and turn on its cleanup setting (which will
2520 // cause the child to be destroyed when it is destroyed)
2521 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2522 dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
2524 case GEOMTYPE_CAPSULE_X:
2525 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2526 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2527 length = geomsize[0] - radius*2;
2528 // check if length is not enough, reduce radius then
2531 radius -= (1 - length)*0.5;
2534 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2535 dMassSetCapsuleTotal(&mass, massval, 1, radius, length);
2537 case GEOMTYPE_CAPSULE_Y:
2538 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2539 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2540 length = geomsize[1] - radius*2;
2541 // check if length is not enough, reduce radius then
2544 radius -= (1 - length)*0.5;
2547 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2548 dMassSetCapsuleTotal(&mass, massval, 2, radius, length);
2550 case GEOMTYPE_CAPSULE_Z:
2551 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2552 radius = min(geomsize[1], geomsize[0]) * 0.5f;
2553 length = geomsize[2] - radius*2;
2554 // check if length is not enough, reduce radius then
2557 radius -= (1 - length)*0.5;
2560 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2561 dMassSetCapsuleTotal(&mass, massval, 3, radius, length);
2563 case GEOMTYPE_CYLINDER:
2565 if (geomsize[axisindex] < geomsize[1])
2567 if (geomsize[axisindex] < geomsize[2])
2569 // the qc gives us 3 axis radius, the longest axis is the capsule
2570 // axis, since ODE doesn't like this idea we have to create a
2571 // capsule which uses the standard orientation, and apply a
2575 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2576 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2578 else if (axisindex == 1)
2580 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2581 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2585 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2586 radius = min(geomsize[0], geomsize[1]) * 0.5f;
2588 length = geomsize[axisindex];
2589 // check if length is not enough, reduce radius then
2592 radius -= (1 - length)*0.5;
2595 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2596 dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
2598 case GEOMTYPE_CYLINDER_X:
2599 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2600 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2601 length = geomsize[0];
2602 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2603 dMassSetCylinderTotal(&mass, massval, 1, radius, length);
2605 case GEOMTYPE_CYLINDER_Y:
2606 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2607 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2608 length = geomsize[1];
2609 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2610 dMassSetCylinderTotal(&mass, massval, 2, radius, length);
2612 case GEOMTYPE_CYLINDER_Z:
2613 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2614 radius = min(geomsize[0], geomsize[1]) * 0.5f;
2615 length = geomsize[2];
2616 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2617 dMassSetCylinderTotal(&mass, massval, 3, radius, length);
2620 Sys_Error("World_Physics_BodyFromEntity: unrecognized geomtype value %i was accepted by filter\n", solid);
2621 // this goto only exists to prevent warnings from the compiler
2622 // about uninitialized variables (mass), while allowing it to
2623 // catch legitimate uninitialized variable warnings
2626 ed->priv.server->ode_mass = massval;
2627 ed->priv.server->ode_modelindex = modelindex;
2628 VectorCopy(entmins, ed->priv.server->ode_mins);
2629 VectorCopy(entmaxs, ed->priv.server->ode_maxs);
2630 VectorCopy(scale, ed->priv.server->ode_scale);
2631 ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
2632 Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
2633 ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass));
2634 memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass));
2637 if (ed->priv.server->ode_geom)
2638 dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed);
2639 if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
2641 // entity is dynamic
2642 if (ed->priv.server->ode_body == NULL)
2644 ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world));
2645 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2646 dBodySetData(body, (void*)ed);
2647 dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
2653 // entity is deactivated
2654 if (ed->priv.server->ode_body != NULL)
2656 if(ed->priv.server->ode_geom)
2657 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
2658 dBodyDestroy((dBodyID) ed->priv.server->ode_body);
2659 ed->priv.server->ode_body = NULL;
2664 // get current data from entity
2665 VectorClear(origin);
2666 VectorClear(velocity);
2667 //VectorClear(forward);
2668 //VectorClear(left);
2670 //VectorClear(spinvelocity);
2671 VectorClear(angles);
2672 VectorClear(avelocity);
2674 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
2675 VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
2676 //VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward);
2677 //VectorCopy(PRVM_gameedictvector(ed, axis_left), left);
2678 //VectorCopy(PRVM_gameedictvector(ed, axis_up), up);
2679 //VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity);
2680 VectorCopy(PRVM_gameedictvector(ed, angles), angles);
2681 VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity);
2682 if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false;
2683 if (ed == prog->edicts)
2686 // compatibility for legacy entities
2687 //if (!VectorLength2(forward) || solid == SOLID_BSP)
2689 float pitchsign = 1;
2690 vec3_t qangles, qavelocity;
2691 VectorCopy(angles, qangles);
2692 VectorCopy(avelocity, qavelocity);
2694 if(prog == SVVM_prog) // FIXME some better way?
2696 pitchsign = SV_GetPitchSign(prog, ed);
2698 else if(prog == CLVM_prog)
2700 pitchsign = CL_GetPitchSign(prog, ed);
2702 qangles[PITCH] *= pitchsign;
2703 qavelocity[PITCH] *= pitchsign;
2705 AngleVectorsFLU(qangles, forward, left, up);
2706 // convert single-axis rotations in avelocity to spinvelocity
2707 // FIXME: untested math - check signs
2708 VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
2711 // compatibility for legacy entities
2715 case SOLID_SLIDEBOX:
2717 VectorSet(forward, 1, 0, 0);
2718 VectorSet(left, 0, 1, 0);
2719 VectorSet(up, 0, 0, 1);
2720 VectorSet(spinvelocity, 0, 0, 0);
2725 // we must prevent NANs...
2726 if (physics_ode_trick_fixnan.integer)
2728 test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
2729 if (VEC_IS_NAN(test))
2732 //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]);
2733 if (physics_ode_trick_fixnan.integer >= 2)
2734 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]);
2735 test = VectorLength2(origin);
2736 if (VEC_IS_NAN(test))
2737 VectorClear(origin);
2738 test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
2739 if (VEC_IS_NAN(test))
2741 VectorSet(angles, 0, 0, 0);
2742 VectorSet(forward, 1, 0, 0);
2743 VectorSet(left, 0, 1, 0);
2744 VectorSet(up, 0, 0, 1);
2746 test = VectorLength2(velocity);
2747 if (VEC_IS_NAN(test))
2748 VectorClear(velocity);
2749 test = VectorLength2(spinvelocity);
2750 if (VEC_IS_NAN(test))
2752 VectorClear(avelocity);
2753 VectorClear(spinvelocity);
2758 // check if the qc edited any position data
2759 if (!VectorCompare(origin, ed->priv.server->ode_origin)
2760 || !VectorCompare(velocity, ed->priv.server->ode_velocity)
2761 || !VectorCompare(angles, ed->priv.server->ode_angles)
2762 || !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
2763 || gravity != ed->priv.server->ode_gravity)
2766 // store the qc values into the physics engine
2767 body = (dBodyID)ed->priv.server->ode_body;
2768 if (modified && ed->priv.server->ode_geom)
2771 matrix4x4_t entitymatrix;
2772 matrix4x4_t bodymatrix;
2775 Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
2776 if(!VectorCompare(origin, ed->priv.server->ode_origin))
2777 Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->priv.server->ode_origin[0], ed->priv.server->ode_origin[1], ed->priv.server->ode_origin[2], origin[0], origin[1], origin[2]);
2778 if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
2779 Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_velocity[0], ed->priv.server->ode_velocity[1], ed->priv.server->ode_velocity[2], velocity[0], velocity[1], velocity[2]);
2780 if(!VectorCompare(angles, ed->priv.server->ode_angles))
2781 Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->priv.server->ode_angles[0], ed->priv.server->ode_angles[1], ed->priv.server->ode_angles[2], angles[0], angles[1], angles[2]);
2782 if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
2783 Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_avelocity[0], ed->priv.server->ode_avelocity[1], ed->priv.server->ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]);
2784 if(gravity != ed->priv.server->ode_gravity)
2785 Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
2787 // values for BodyFromEntity to check if the qc modified anything later
2788 VectorCopy(origin, ed->priv.server->ode_origin);
2789 VectorCopy(velocity, ed->priv.server->ode_velocity);
2790 VectorCopy(angles, ed->priv.server->ode_angles);
2791 VectorCopy(avelocity, ed->priv.server->ode_avelocity);
2792 ed->priv.server->ode_gravity = gravity;
2794 Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
2795 Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
2796 Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
2797 r[0][0] = forward[0];
2798 r[1][0] = forward[1];
2799 r[2][0] = forward[2];
2808 if (movetype == MOVETYPE_PHYSICS)
2810 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2811 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2812 dBodySetRotation(body, r[0]);
2813 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2814 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2815 dBodySetGravityMode(body, gravity);
2819 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2820 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2821 dBodySetRotation(body, r[0]);
2822 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2823 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2824 dBodySetGravityMode(body, gravity);
2825 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
2830 // no body... then let's adjust the parameters of the geom directly
2831 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
2832 dGeomSetPosition((dGeomID)ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
2833 dGeomSetRotation((dGeomID)ed->priv.server->ode_geom, r[0]);
2840 // limit movement speed to prevent missed collisions at high speed
2841 ovelocity = dBodyGetLinearVel(body);
2842 ospinvelocity = dBodyGetAngularVel(body);
2843 movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
2844 test = VectorLength2(ovelocity);
2845 if (test > movelimit*movelimit)
2847 // scale down linear velocity to the movelimit
2848 // scale down angular velocity the same amount for consistency
2849 f = movelimit / sqrt(test);
2850 VectorScale(ovelocity, f, velocity);
2851 VectorScale(ospinvelocity, f, spinvelocity);
2852 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2853 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2856 // make sure the angular velocity is not exploding
2857 spinlimit = physics_ode_spinlimit.value;
2858 test = VectorLength2(ospinvelocity);
2859 if (test > spinlimit)
2861 dBodySetAngularVel(body, 0, 0, 0);
2864 // apply functions and clear stack
2865 for(func = ed->priv.server->ode_func; func; func = nextf)
2868 World_Physics_ApplyCmd(ed, func);
2871 ed->priv.server->ode_func = NULL;
2875 #define MAX_CONTACTS 32
2876 static void nearCallback (void *data, dGeomID o1, dGeomID o2)
2878 world_t *world = (world_t *)data;
2879 prvm_prog_t *prog = world->prog;
2880 dContact contact[MAX_CONTACTS]; // max contacts per collision pair
2881 int b1enabled = 0, b2enabled = 0;
2886 float bouncefactor1 = 0.0f;
2887 float bouncestop1 = 60.0f / 800.0f;
2888 float bouncefactor2 = 0.0f;
2889 float bouncestop2 = 60.0f / 800.0f;
2892 prvm_edict_t *ed1, *ed2;
2894 if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
2896 // colliding a space with something
2897 dSpaceCollide2(o1, o2, data, &nearCallback);
2898 // Note we do not want to test intersections within a space,
2899 // only between spaces.
2900 //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
2901 //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
2905 b1 = dGeomGetBody(o1);
2907 b1enabled = dBodyIsEnabled(b1);
2908 b2 = dGeomGetBody(o2);
2910 b2enabled = dBodyIsEnabled(b2);
2912 // at least one object has to be using MOVETYPE_PHYSICS and should be enabled or we just don't care
2913 if (!b1enabled && !b2enabled)
2916 // exit without doing anything if the two bodies are connected by a joint
2917 if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
2920 ed1 = (prvm_edict_t *) dGeomGetData(o1);
2921 if(ed1 && ed1->priv.server->free)
2925 bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor);
2926 bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop);
2928 bouncestop1 = 60.0f / 800.0f;
2931 ed2 = (prvm_edict_t *) dGeomGetData(o2);
2932 if(ed2 && ed2->priv.server->free)
2936 bouncefactor2 = PRVM_gameedictfloat(ed2, bouncefactor);
2937 bouncestop2 = PRVM_gameedictfloat(ed2, bouncestop);
2939 bouncestop2 = 60.0f / 800.0f;
2942 if(prog == SVVM_prog)
2944 if(ed1 && PRVM_serveredictfunction(ed1, touch))
2946 SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
2948 if(ed2 && PRVM_serveredictfunction(ed2, touch))
2950 SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
2954 // merge bounce factors and bounce stop
2955 if(bouncefactor2 > 0)
2957 if(bouncefactor1 > 0)
2959 // TODO possibly better logic to merge bounce factor data?
2960 if(bouncestop2 < bouncestop1)
2961 bouncestop1 = bouncestop2;
2962 if(bouncefactor2 > bouncefactor1)
2963 bouncefactor1 = bouncefactor2;
2967 bouncestop1 = bouncestop2;
2968 bouncefactor1 = bouncefactor2;
2971 dWorldGetGravity((dWorldID)world->physics.ode_world, grav);
2972 bouncestop1 *= fabs(grav[2]);
2975 // select object that moves faster ang get it's erp
2976 erp = (VectorLength2(PRVM_gameedictvector(ed1, velocity)) > VectorLength2(PRVM_gameedictvector(ed2, velocity))) ? PRVM_gameedictfloat(ed1, erp) : PRVM_gameedictfloat(ed2, erp);
2978 // get max contact points for this collision
2979 numcontacts = (int)PRVM_gameedictfloat(ed1, maxcontacts);
2981 numcontacts = physics_ode_contact_maxpoints.integer;
2982 if (PRVM_gameedictfloat(ed2, maxcontacts))
2983 numcontacts = max(numcontacts, (int)PRVM_gameedictfloat(ed2, maxcontacts));
2985 numcontacts = max(numcontacts, physics_ode_contact_maxpoints.integer);
2987 // generate contact points between the two non-space geoms
2988 numcontacts = dCollide(o1, o2, min(MAX_CONTACTS, numcontacts), &(contact[0].geom), sizeof(contact[0]));
2989 // add these contact points to the simulation
2990 for (i = 0;i < numcontacts;i++)
2992 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);
2993 contact[i].surface.mu = physics_ode_contact_mu.value * ed1->priv.server->ode_friction * ed2->priv.server->ode_friction;
2994 contact[i].surface.soft_erp = physics_ode_contact_erp.value + erp;
2995 contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
2996 contact[i].surface.bounce = bouncefactor1;
2997 contact[i].surface.bounce_vel = bouncestop1;
2998 c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i);
2999 dJointAttach(c, b1, b2);
3004 void World_Physics_Frame(world_t *world, double frametime, double gravity)
3006 prvm_prog_t *prog = world->prog;
3007 double tdelta, tdelta2, tdelta3, simulationtime, collisiontime;
3009 tdelta = Sys_DirtyTime();
3011 if (world->physics.ode && physics_ode.integer)
3016 if (!physics_ode_constantstep.value)
3018 world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
3019 world->physics.ode_step = frametime / world->physics.ode_iterations;
3023 world->physics.ode_time += frametime;
3025 if (physics_ode_constantstep.value > 0 && physics_ode_constantstep.value < 1)
3026 world->physics.ode_step = physics_ode_constantstep.value;
3028 world->physics.ode_step = sys_ticrate.value;
3029 if (world->physics.ode_time > 0.2f)
3030 world->physics.ode_time = world->physics.ode_step;
3031 // set number of iterations to process
3032 world->physics.ode_iterations = 0;
3033 while(world->physics.ode_time >= world->physics.ode_step)
3035 world->physics.ode_iterations++;
3036 world->physics.ode_time -= world->physics.ode_step;
3039 world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
3040 World_Physics_UpdateODE(world);
3042 // copy physics properties from entities to physics engine
3045 for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3046 if (!prog->edicts[i].priv.required->free)
3047 World_Physics_Frame_BodyFromEntity(world, ed);
3048 // oh, and it must be called after all bodies were created
3049 for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3050 if (!prog->edicts[i].priv.required->free)
3051 World_Physics_Frame_JointFromEntity(world, ed);
3054 tdelta2 = Sys_DirtyTime();
3056 for (i = 0;i < world->physics.ode_iterations;i++)
3059 dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value);
3060 // set the tolerance for closeness of objects
3061 dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
3062 // run collisions for the current world state, creating JointGroup
3063 tdelta3 = Sys_DirtyTime();
3064 dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
3065 collisiontime += (Sys_DirtyTime() - tdelta3)*10000;
3070 for (j = 0, ed = prog->edicts + j;j < prog->num_edicts;j++, ed++)
3071 if (!prog->edicts[j].priv.required->free)
3072 World_Physics_Frame_ForceFromEntity(world, ed);
3074 // run physics (move objects, calculate new velocities)
3075 // be sure not to pass 0 as step time because that causes an ODE error
3076 dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200));
3077 if (world->physics.ode_step > 0)
3078 dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step);
3079 // clear the JointGroup now that we're done with it
3080 dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup);
3082 simulationtime = (Sys_DirtyTime() - tdelta2)*10000;
3084 // copy physics properties from physics engine to entities and do some stats
3087 for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3088 if (!prog->edicts[i].priv.required->free)
3089 World_Physics_Frame_BodyToEntity(world, ed);
3092 if (physics_ode_printstats.integer)
3096 world->physics.ode_numobjects = 0;
3097 world->physics.ode_activeovjects = 0;
3098 for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3100 if (prog->edicts[i].priv.required->free)
3102 body = (dBodyID)prog->edicts[i].priv.server->ode_body;
3105 world->physics.ode_numobjects++;
3106 if (dBodyIsEnabled(body))
3107 world->physics.ode_activeovjects++;
3109 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));