// 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
//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);
// {"dGeomGetData", (void **) &dGeomGetData},
{"dGeomSetBody", (void **) &dGeomSetBody},
{"dGeomGetBody", (void **) &dGeomGetBody},
-// {"dGeomSetPosition", (void **) &dGeomSetPosition},
+ {"dGeomSetPosition", (void **) &dGeomSetPosition},
{"dGeomSetRotation", (void **) &dGeomSetRotation},
// {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
// {"dGeomGetPosition", (void **) &dGeomGetPosition},
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);
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 enemy = 0, aiment = 0;
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);
enemy = 0;
if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
aiment = 0;
+ // see http://www.ode.org/old_list_archives/2006-January/017614.html
+ 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);
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);
{ \
dJointSet##t##Param(j, dParamLoStop##id, 0); \
dJointSet##t##Param(j, dParamHiStop##id, 0); \
+ dJointSet##t##Param(j, dParamFMax##id, movedir[1]); \
} \
- 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) \
#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(ed2, prog->fieldoffsets.bouncestop);
+ if (val!=0 && val->_float)
+ bouncestop2 = val->_float;
+ }
- val = PRVM_EDICTFIELDVALUE(ed, 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