// physics engine support
//============================================================================
-#ifndef ODE_STATIC
-#define ODE_DYNAMIC 1
-#endif
+//#ifndef ODE_STATIC
+//#define ODE_DYNAMIC 1
+//#endif
#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
#define USEODE 1
cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
+cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
+cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"};
cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
}
dJointType;
+#define D_ALL_PARAM_NAMES(start) \
+ /* parameters for limits and motors */ \
+ dParamLoStop = start, \
+ dParamHiStop, \
+ dParamVel, \
+ dParamFMax, \
+ dParamFudgeFactor, \
+ dParamBounce, \
+ dParamCFM, \
+ dParamStopERP, \
+ dParamStopCFM, \
+ /* parameters for suspension */ \
+ dParamSuspensionERP, \
+ dParamSuspensionCFM, \
+ dParamERP, \
+
+#define D_ALL_PARAM_NAMES_X(start,x) \
+ /* parameters for limits and motors */ \
+ dParamLoStop ## x = start, \
+ dParamHiStop ## x, \
+ dParamVel ## x, \
+ dParamFMax ## x, \
+ dParamFudgeFactor ## x, \
+ dParamBounce ## x, \
+ dParamCFM ## x, \
+ dParamStopERP ## x, \
+ dParamStopCFM ## x, \
+ /* parameters for suspension */ \
+ dParamSuspensionERP ## x, \
+ dParamSuspensionCFM ## x, \
+ dParamERP ## x,
+
+enum {
+ D_ALL_PARAM_NAMES(0)
+ D_ALL_PARAM_NAMES_X(0x100,2)
+ D_ALL_PARAM_NAMES_X(0x200,3)
+
+ /* add a multiple of this constant to the basic parameter numbers to get
+ * the parameters for the second, third etc axes.
+ */
+ dParamGroup=0x100
+};
+
typedef struct dMass
{
dReal mass;
void (ODE_API *dWorldDestroy)(dWorldID world);
void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
-//void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
+void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
//dReal (ODE_API *dWorldGetERP)(dWorldID);
-//void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
+void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
//dReal (ODE_API *dWorldGetCFM)(dWorldID);
void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
-//int (ODE_API *dBodyGetNumJoints)(dBodyID b);
-//dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
+int (ODE_API *dBodyGetNumJoints)(dBodyID b);
+dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
//void (ODE_API *dBodySetDynamic)(dBodyID);
//void (ODE_API *dBodySetKinematic)(dBodyID);
//int (ODE_API *dBodyIsKinematic)(dBodyID);
//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
-//dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
-//dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
-//dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
-//dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
-//dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
+dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
-//void (ODE_API *dJointDestroy)(dJointID);
+void (ODE_API *dJointDestroy)(dJointID);
dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
void (ODE_API *dJointGroupDestroy)(dJointGroupID);
void (ODE_API *dJointGroupEmpty)(dJointGroupID);
//void (ODE_API *dJointEnable)(dJointID);
//void (ODE_API *dJointDisable)(dJointID);
//int (ODE_API *dJointIsEnabled)(dJointID);
-//void (ODE_API *dJointSetData)(dJointID, void *data);
-//void * (ODE_API *dJointGetData)(dJointID);
+void (ODE_API *dJointSetData)(dJointID, void *data);
+void * (ODE_API *dJointGetData)(dJointID);
//dJointType (ODE_API *dJointGetType)(dJointID);
-//dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
+dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
-//void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
-//void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
-//void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
+void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
-//void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
-//void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
+void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
-//void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
-//void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
+void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
-//void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
-//void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
-//void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
-//void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
+void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
-//void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
-//void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
-//void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
+void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
-//void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
+void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
//int (ODE_API *dSpaceGetClass)(dSpaceID space);
//
void (ODE_API *dGeomDestroy)(dGeomID geom);
-//void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
-//void * (ODE_API *dGeomGetData)(dGeomID geom);
+void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
+void * (ODE_API *dGeomGetData)(dGeomID geom);
void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
-//void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
{"dWorldDestroy", (void **) &dWorldDestroy},
{"dWorldSetGravity", (void **) &dWorldSetGravity},
{"dWorldGetGravity", (void **) &dWorldGetGravity},
-// {"dWorldSetERP", (void **) &dWorldSetERP},
+ {"dWorldSetERP", (void **) &dWorldSetERP},
// {"dWorldGetERP", (void **) &dWorldGetERP},
-// {"dWorldSetCFM", (void **) &dWorldSetCFM},
+ {"dWorldSetCFM", (void **) &dWorldSetCFM},
// {"dWorldGetCFM", (void **) &dWorldGetCFM},
{"dWorldStep", (void **) &dWorldStep},
// {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
// {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis},
// {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode},
// {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis},
-// {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints},
-// {"dBodyGetJoint", (void **) &dBodyGetJoint},
+ {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints},
+ {"dBodyGetJoint", (void **) &dBodyGetJoint},
// {"dBodySetDynamic", (void **) &dBodySetDynamic},
// {"dBodySetKinematic", (void **) &dBodySetKinematic},
// {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
// {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
// {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
// {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
-// {"dJointCreateBall", (void **) &dJointCreateBall},
-// {"dJointCreateHinge", (void **) &dJointCreateHinge},
-// {"dJointCreateSlider", (void **) &dJointCreateSlider},
+ {"dJointCreateBall", (void **) &dJointCreateBall},
+ {"dJointCreateHinge", (void **) &dJointCreateHinge},
+ {"dJointCreateSlider", (void **) &dJointCreateSlider},
{"dJointCreateContact", (void **) &dJointCreateContact},
-// {"dJointCreateHinge2", (void **) &dJointCreateHinge2},
-// {"dJointCreateUniversal", (void **) &dJointCreateUniversal},
+ {"dJointCreateHinge2", (void **) &dJointCreateHinge2},
+ {"dJointCreateUniversal", (void **) &dJointCreateUniversal},
// {"dJointCreatePR", (void **) &dJointCreatePR},
// {"dJointCreatePU", (void **) &dJointCreatePU},
// {"dJointCreatePiston", (void **) &dJointCreatePiston},
// {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
// {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
// {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D},
-// {"dJointDestroy", (void **) &dJointDestroy},
+ {"dJointDestroy", (void **) &dJointDestroy},
{"dJointGroupCreate", (void **) &dJointGroupCreate},
{"dJointGroupDestroy", (void **) &dJointGroupDestroy},
{"dJointGroupEmpty", (void **) &dJointGroupEmpty},
// {"dJointEnable", (void **) &dJointEnable},
// {"dJointDisable", (void **) &dJointDisable},
// {"dJointIsEnabled", (void **) &dJointIsEnabled},
-// {"dJointSetData", (void **) &dJointSetData},
-// {"dJointGetData", (void **) &dJointGetData},
+ {"dJointSetData", (void **) &dJointSetData},
+ {"dJointGetData", (void **) &dJointGetData},
// {"dJointGetType", (void **) &dJointGetType},
-// {"dJointGetBody", (void **) &dJointGetBody},
+ {"dJointGetBody", (void **) &dJointGetBody},
// {"dJointSetFeedback", (void **) &dJointSetFeedback},
// {"dJointGetFeedback", (void **) &dJointGetFeedback},
-// {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor},
+ {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor},
// {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2},
-// {"dJointSetBallParam", (void **) &dJointSetBallParam},
-// {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor},
+ {"dJointSetBallParam", (void **) &dJointSetBallParam},
+ {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor},
// {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta},
-// {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis},
+ {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis},
// {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset},
-// {"dJointSetHingeParam", (void **) &dJointSetHingeParam},
+ {"dJointSetHingeParam", (void **) &dJointSetHingeParam},
// {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque},
-// {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis},
+ {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis},
// {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta},
-// {"dJointSetSliderParam", (void **) &dJointSetSliderParam},
+ {"dJointSetSliderParam", (void **) &dJointSetSliderParam},
// {"dJointAddSliderForce", (void **) &dJointAddSliderForce},
-// {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor},
-// {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1},
-// {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2},
-// {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param},
+ {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor},
+ {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1},
+ {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2},
+ {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param},
// {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques},
-// {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor},
-// {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1},
+ {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor},
+ {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1},
// {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset},
-// {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2},
+ {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2},
// {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset},
-// {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam},
+ {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam},
// {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques},
// {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor},
// {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1},
// {"dGeomGetData", (void **) &dGeomGetData},
{"dGeomSetBody", (void **) &dGeomSetBody},
{"dGeomGetBody", (void **) &dGeomGetBody},
-// {"dGeomSetPosition", (void **) &dGeomSetPosition},
+ {"dGeomSetPosition", (void **) &dGeomSetPosition},
{"dGeomSetRotation", (void **) &dGeomSetRotation},
// {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
// {"dGeomGetPosition", (void **) &dGeomGetPosition},
Cvar_RegisterVariable(&physics_ode_contact_mu);
Cvar_RegisterVariable(&physics_ode_contact_erp);
Cvar_RegisterVariable(&physics_ode_contact_cfm);
+ Cvar_RegisterVariable(&physics_ode_world_erp);
+ Cvar_RegisterVariable(&physics_ode_world_cfm);
Cvar_RegisterVariable(&physics_ode_iterationsperframe);
Cvar_RegisterVariable(&physics_ode_movelimit);
Cvar_RegisterVariable(&physics_ode_spinlimit);
world->physics.ode_world = dWorldCreate();
world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
world->physics.ode_contactgroup = dJointGroupCreate(0);
- // we don't currently set dWorldSetCFM or dWorldSetERP because the defaults seem fine
+ if(physics_ode_world_erp.value >= 0)
+ dWorldSetERP(world->physics.ode_world, physics_ode_world_erp.value);
+ if(physics_ode_world_cfm.value >= 0)
+ dWorldSetCFM(world->physics.ode_world, physics_ode_world_cfm.value);
}
#endif
void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
{
// entity is not physics controlled, free any physics data
- prvm_edict_t *ed2;
ed->priv.server->ode_physics = false;
#ifdef USEODE
if (ed->priv.server->ode_geom)
{
dJointID j;
dBodyID b1, b2;
+ prvm_edict_t *ed2;
while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
{
j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
break;
case JOINTTYPE_HINGE2:
break;
- case JOINTTYPE_PISTON:
- break;
}
return;
}
VectorCopy(angles, ed->priv.server->ode_angles);
VectorCopy(avelocity, ed->priv.server->ode_avelocity);
ed->priv.server->ode_gravity = dBodyGetGravityMode(body);
+
+ if(!strcmp(prog->name, "server")) // FIXME some better way?
+ {
+ SV_LinkEdict(ed);
+ SV_LinkEdict_TouchAreaGrid(ed);
+ }
}
static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
int movetype = 0;
int jointtype = 0;
int enemy = 0, aiment = 0;
- vec3_t origin, velocity, angles, forward, left, up;
+ vec3_t origin, velocity, angles, forward, left, up, movedir;
prvm_eval_t *val;
+ float H = (!strcmp(prog->name, "server") ? sv.frametime : cl.mtime[0] - cl.mtime[1]) / world->physics.ode_iterations;
VectorClear(origin);
VectorClear(velocity);
VectorClear(angles);
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movedir);if (val) VectorCopy(val->vector, movedir);
if(movetype == MOVETYPE_PHYSICS)
jointtype = 0; // can't have both
if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
enemy = 0;
if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
aiment = 0;
- 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)
+ // see http://www.ode.org/old_list_archives/2006-January/017614.html
+ if(movedir[0] > 0)
+ // we want to set ERP? make it fps independent and work like a spring constant
+ // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
+ {
+ float K = movedir[0];
+ float D = movedir[2];
+ float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
+ float ERP = (H * K) / (H * K + R);
+ float CFM = 1.0 / (H * K + R);
+ movedir[0] = CFM;
+ movedir[2] = ERP;
+ }
+ movedir[1] *= H; // make movedir[1] actually "force per second" to allow this to be used for non-springs
+ if(jointtype == ed->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment && VectorCompare(movedir, ed->priv.server->ode_joint_movedir))
return; // nothing to do
AngleVectorsFLU(angles, forward, left, up);
switch(jointtype)
case JOINTTYPE_HINGE2:
j = dJointCreateHinge2(world->physics.ode_world, 0);
break;
- case JOINTTYPE_PISTON:
- j = dJointCreatePiston(world->physics.ode_world, 0);
- break;
case 0:
default:
// no joint
VectorCopy(origin, ed->priv.server->ode_joint_origin);
VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
VectorCopy(angles, ed->priv.server->ode_joint_angles);
+ VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
if(j)
{
dJointSetData(j, (void *) ed);
if(aiment)
b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
dJointAttach(j, b1, b2);
+#define SETPARAMS(t,id) \
+ if(movedir[0] > 0) \
+ dJointSet##t##Param(j, dParamCFM##id, movedir[0]); \
+ else if(movedir[0] < 0) \
+ dJointSet##t##Param(j, dParamCFM##id, 0); \
+ if(movedir[1] > 0) \
+ { \
+ dJointSet##t##Param(j, dParamLoStop##id, 0); \
+ dJointSet##t##Param(j, dParamHiStop##id, 0); \
+ dJointSet##t##Param(j, dParamFMax##id, movedir[1]); \
+ } \
+ else \
+ dJointSet##t##Param(j, dParamFMax##id, -movedir[1]); \
+ if(movedir[2] > 0) \
+ dJointSet##t##Param(j, dParamStopERP##id, movedir[2]); \
+ else if(movedir[2] < 0) \
+ dJointSet##t##Param(j, dParamStopERP##id, 0)
switch(jointtype)
{
case JOINTTYPE_POINT:
case JOINTTYPE_HINGE:
dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
+ SETPARAMS(Hinge,);
break;
case JOINTTYPE_SLIDER:
dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
+ SETPARAMS(Slider,);
break;
case JOINTTYPE_UNIVERSAL:
dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
+ SETPARAMS(Universal,);
+ SETPARAMS(Universal,2);
break;
case JOINTTYPE_HINGE2:
dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
- break;
- case JOINTTYPE_PISTON:
- dJointSetPistonAxis(j, forward[0], forward[1], forward[2]);
+ SETPARAMS(Hinge2,);
+ SETPARAMS(Hinge2,2);
break;
case 0:
default:
#endif
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);if (val) solid = (int)val->_float;
val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val && val->_float) scale = val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.scale);if (val && val->_float) scale = val->_float;
modelindex = 0;
switch(solid)
{
// now create the geom
dataID = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3]));
- ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
- dGeomSetBody(ed->priv.server->ode_geom, body);
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
break;
case SOLID_BBOX:
case SOLID_CORPSE:
case SOLID_PHYSICS_BOX:
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
- ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
ed->priv.server->ode_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
- dGeomSetBody(ed->priv.server->ode_geom, body);
- dBodySetMass(body, &mass);
break;
case SOLID_PHYSICS_SPHERE:
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
- ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f);
dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
- dGeomSetBody(ed->priv.server->ode_geom, body);
- dBodySetMass(body, &mass);
- dBodySetData(body, (void*)ed);
break;
case SOLID_PHYSICS_CAPSULE:
axisindex = 0;
// because we want to support more than one axisindex, we have to
// create a transform, and turn on its cleanup setting (which will
// cause the child to be destroyed when it is destroyed)
- ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
ed->priv.server->ode_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length);
dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
- dGeomSetBody(ed->priv.server->ode_geom, body);
- dBodySetMass(body, &mass);
break;
default:
Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
}
+ if(ed->priv.server->ode_geom)
+ dGeomSetData(ed->priv.server->ode_geom, (void*)ed);
+ if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
+ {
+ if (ed->priv.server->ode_body == NULL)
+ {
+ ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+ dGeomSetBody(ed->priv.server->ode_geom, body);
+ dBodySetData(body, (void*)ed);
+ dBodySetMass(body, &mass);
+ }
+ }
+ else
+ {
+ // let's keep the body around in case we need it again (in case QC toggles between MOVETYPE_PHYSICS and MOVETYPE_NONE)
+ }
+
// get current data from entity
VectorClear(origin);
VectorClear(velocity);
}
}
- // limit movement speed to prevent missed collisions at high speed
- movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
- test = VectorLength2(velocity);
- if (test > movelimit*movelimit)
- {
- modified = true;
- // scale down linear velocity to the movelimit
- // scale down angular velocity the same amount for consistency
- f = movelimit / sqrt(test);
- VectorScale(velocity, f, velocity);
- VectorScale(avelocity, f, avelocity);
- VectorScale(spinvelocity, f, spinvelocity);
- }
-
- // make sure the angular velocity is not exploding
- spinlimit = physics_ode_spinlimit.value;
- test = VectorLength2(spinvelocity);
- if (test > spinlimit)
- {
- modified = true;
- VectorClear(avelocity);
- VectorClear(spinvelocity);
- }
-
// check if the qc edited any position data
if (!VectorCompare(origin, ed->priv.server->ode_origin)
|| !VectorCompare(velocity, ed->priv.server->ode_velocity)
// store the qc values into the physics engine
body = ed->priv.server->ode_body;
- if (body && modified)
+ if (modified)
{
dVector3 r[3];
matrix4x4_t entitymatrix;
matrix4x4_t bodymatrix;
+#if 0
+ Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
+ if(!VectorCompare(origin, ed->priv.server->ode_origin))
+ Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->priv.server->ode_origin[0], ed->priv.server->ode_origin[1], ed->priv.server->ode_origin[2], origin[0], origin[1], origin[2]);
+ if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
+ Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_velocity[0], ed->priv.server->ode_velocity[1], ed->priv.server->ode_velocity[2], velocity[0], velocity[1], velocity[2]);
+ if(!VectorCompare(angles, ed->priv.server->ode_angles))
+ Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->priv.server->ode_angles[0], ed->priv.server->ode_angles[1], ed->priv.server->ode_angles[2], angles[0], angles[1], angles[2]);
+ if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
+ Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_avelocity[0], ed->priv.server->ode_avelocity[1], ed->priv.server->ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]);
+ if(gravity != ed->priv.server->ode_gravity)
+ Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
+#endif
+
+ // values for BodyFromEntity to check if the qc modified anything later
+ VectorCopy(origin, ed->priv.server->ode_origin);
+ VectorCopy(velocity, ed->priv.server->ode_velocity);
+ VectorCopy(angles, ed->priv.server->ode_angles);
+ VectorCopy(avelocity, ed->priv.server->ode_avelocity);
+ ed->priv.server->ode_gravity = gravity;
+
{
float pitchsign = 1;
if(!strcmp(prog->name, "server")) // FIXME some better way?
r[0][2] = up[0];
r[1][2] = up[1];
r[2][2] = up[2];
- dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_body);
- dBodySetPosition(body, origin[0], origin[1], origin[2]);
- dBodySetRotation(body, r[0]);
- dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
- dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
- dBodySetGravityMode(body, gravity);
- dBodySetData(body, (void*)ed);
- // setting body to NULL makes an immovable object
- if (movetype != MOVETYPE_PHYSICS)
- dGeomSetBody(ed->priv.server->ode_geom, 0);
+ if(body)
+ {
+ if(movetype == MOVETYPE_PHYSICS)
+ {
+ dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_body);
+ dBodySetPosition(body, origin[0], origin[1], origin[2]);
+ dBodySetRotation(body, r[0]);
+ dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
+ dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+ dBodySetGravityMode(body, gravity);
+ }
+ else
+ {
+ dGeomSetBody(ed->priv.server->ode_geom, 0);
+ dGeomSetPosition(ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
+ dGeomSetRotation(ed->priv.server->ode_geom, r[0]);
+ }
+ }
+ else
+ {
+ // no body... then let's adjust the parameters of the geom directly
+ dGeomSetBody(ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
+ dGeomSetPosition(ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
+ dGeomSetRotation(ed->priv.server->ode_geom, r[0]);
+ }
+ }
+
+ if(body)
+ {
+ // limit movement speed to prevent missed collisions at high speed
+ const dReal *ovelocity = dBodyGetLinearVel(body);
+ const dReal *ospinvelocity = dBodyGetAngularVel(body);
+ movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
+ test = VectorLength2(ovelocity);
+ if (test > movelimit*movelimit)
+ {
+ // scale down linear velocity to the movelimit
+ // scale down angular velocity the same amount for consistency
+ f = movelimit / sqrt(test);
+ VectorScale(ovelocity, f, velocity);
+ VectorScale(ospinvelocity, f, spinvelocity);
+ dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
+ dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+ }
+
+ // make sure the angular velocity is not exploding
+ spinlimit = physics_ode_spinlimit.value;
+ test = VectorLength2(ospinvelocity);
+ if (test > spinlimit)
+ {
+ dBodySetAngularVel(body, 0, 0, 0);
+ }
}
}
float bouncefactor2 = 0.0f;
float bouncestop2 = 60.0f / 800.0f;
dVector3 grav;
- prvm_edict_t *ed;
+ prvm_edict_t *ed1, *ed2;
if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
{
if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
return;
- if(b1)
+ ed1 = (prvm_edict_t *) dGeomGetData(o1);
+ if(ed1 && ed1->priv.server->free)
+ ed1 = NULL;
+ if(ed1)
{
- ed = (prvm_edict_t *) dBodyGetData(b1);
- if(ed)
- {
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor);
- if (val!=0 && val->_float)
- bouncefactor1 = val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed1, prog->fieldoffsets.bouncefactor);
+ if (val!=0 && val->_float)
+ bouncefactor1 = val->_float;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop);
- if (val!=0 && val->_float)
- bouncestop1 = val->_float;
- }
+ val = PRVM_EDICTFIELDVALUE(ed1, prog->fieldoffsets.bouncestop);
+ if (val!=0 && val->_float)
+ bouncestop1 = val->_float;
}
- if(b2)
+ ed2 = (prvm_edict_t *) dGeomGetData(o2);
+ if(ed2 && ed2->priv.server->free)
+ ed2 = NULL;
+ if(ed2)
{
- ed = (prvm_edict_t *) dBodyGetData(b2);
- if(ed)
- {
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor);
- if (val!=0 && val->_float)
- bouncefactor2 = val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed2, prog->fieldoffsets.bouncefactor);
+ if (val!=0 && val->_float)
+ bouncefactor2 = val->_float;
- val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop);
- if (val!=0 && val->_float)
- bouncestop2 = val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed2, prog->fieldoffsets.bouncestop);
+ if (val!=0 && val->_float)
+ bouncestop2 = val->_float;
+ }
+
+ if(!strcmp(prog->name, "server"))
+ {
+ if(ed1 && ed1->fields.server->touch)
+ {
+ SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
+ }
+ if(ed2 && ed2->fields.server->touch)
+ {
+ SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
}
}
// copy physics properties from physics engine to entities
if (prog)
for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
- if (!prog->edicts[i].priv.required->free && PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype)->_float == MOVETYPE_PHYSICS)
+ if (!prog->edicts[i].priv.required->free)
World_Physics_Frame_BodyToEntity(world, ed);
}
#endif
projects / xonotic / darkplaces.git / blobdiff