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"
29 entities never clip against themselves, or their owner
31 line of sight checks trace->inopen and trace->inwater, but bullets don't
36 static void World_Physics_Init(void);
47 static void World_Physics_Shutdown(void);
49 void World_Shutdown(void)
52 World_Physics_Shutdown();
57 static void World_Physics_Start(world_t *world);
59 void World_Start(world_t *world)
62 World_Physics_Start(world);
67 static void World_Physics_End(world_t *world);
69 void World_End(world_t *world)
72 World_Physics_End(world);
76 //============================================================================
78 /// World_ClearLink is used for new headnodes
79 void World_ClearLink (link_t *l)
82 l->list.prev = l->list.next = &l->list;
85 void World_RemoveLink (link_t *l)
87 List_Delete(&l->list);
90 void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
92 l->entitynumber = entitynumber;
93 List_Add_Tail(&l->list, &before->list);
97 ===============================================================================
101 ===============================================================================
104 void World_PrintAreaStats(world_t *world, const char *worldname)
106 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);
107 world->areagrid_stats_calls = 0;
108 world->areagrid_stats_nodechecks = 0;
109 world->areagrid_stats_entitychecks = 0;
118 void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs, prvm_prog_t *prog)
122 dp_strlcpy(world->filename, filename, sizeof(world->filename));
123 VectorCopy(mins, world->mins);
124 VectorCopy(maxs, world->maxs);
127 // the areagrid_marknumber is not allowed to be 0
128 if (world->areagrid_marknumber < 1)
129 world->areagrid_marknumber = 1;
130 // choose either the world box size, or a larger box to ensure the grid isn't too fine
131 world->areagrid_size[0] = max(world->maxs[0] - world->mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
132 world->areagrid_size[1] = max(world->maxs[1] - world->mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
133 world->areagrid_size[2] = max(world->maxs[2] - world->mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
134 // figure out the corners of such a box, centered at the center of the world box
135 world->areagrid_mins[0] = (world->mins[0] + world->maxs[0] - world->areagrid_size[0]) * 0.5f;
136 world->areagrid_mins[1] = (world->mins[1] + world->maxs[1] - world->areagrid_size[1]) * 0.5f;
137 world->areagrid_mins[2] = (world->mins[2] + world->maxs[2] - world->areagrid_size[2]) * 0.5f;
138 world->areagrid_maxs[0] = (world->mins[0] + world->maxs[0] + world->areagrid_size[0]) * 0.5f;
139 world->areagrid_maxs[1] = (world->mins[1] + world->maxs[1] + world->areagrid_size[1]) * 0.5f;
140 world->areagrid_maxs[2] = (world->mins[2] + world->maxs[2] + world->areagrid_size[2]) * 0.5f;
141 // now calculate the actual useful info from that
142 VectorNegate(world->areagrid_mins, world->areagrid_bias);
143 world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
144 world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
145 world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
146 World_ClearLink(&world->areagrid_outside);
147 for (i = 0;i < AREA_GRIDNODES;i++)
148 World_ClearLink(&world->areagrid[i]);
149 if (developer_extra.integer)
150 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);
159 void World_UnlinkAll(world_t *world)
161 prvm_prog_t *prog = world->prog;
164 // unlink all entities one by one
165 grid = &world->areagrid_outside;
166 while (grid->list.next != &grid->list)
167 World_UnlinkEdict(PRVM_EDICT_NUM(List_Entry(grid->list.next, link_t, list)->entitynumber));
168 for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
169 while (grid->list.next != &grid->list)
170 World_UnlinkEdict(PRVM_EDICT_NUM(List_Entry(grid->list.next, link_t, list)->entitynumber));
178 void World_UnlinkEdict(prvm_edict_t *ent)
181 for (i = 0;i < ENTITYGRIDAREAS;i++)
183 if (ent->priv.server->areagrid[i].list.prev)
184 World_RemoveLink (&ent->priv.server->areagrid[i]);
188 int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t requestmaxs, int maxlist, prvm_edict_t **list)
190 prvm_prog_t *prog = world->prog;
195 vec3_t paddedmins, paddedmaxs;
196 int igrid[3], igridmins[3], igridmaxs[3];
198 // avoid crash in showtex code on level change
199 if (prog == NULL || prog->num_edicts < 1)
202 // LadyHavoc: discovered this actually causes its own bugs (dm6 teleporters being too close to info_teleport_destination)
203 //VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f);
204 //VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f);
205 VectorCopy(requestmins, paddedmins);
206 VectorCopy(requestmaxs, paddedmaxs);
208 // FIXME: if areagrid_marknumber wraps, all entities need their
209 // ent->priv.server->areagridmarknumber reset
210 world->areagrid_stats_calls++;
211 world->areagrid_marknumber++;
212 igridmins[0] = (int) floor((paddedmins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
213 igridmins[1] = (int) floor((paddedmins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
214 //igridmins[2] = (int) ((paddedmins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
215 igridmaxs[0] = (int) floor((paddedmaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
216 igridmaxs[1] = (int) floor((paddedmaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
217 //igridmaxs[2] = (int) ((paddedmaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
218 igridmins[0] = max(0, igridmins[0]);
219 igridmins[1] = max(0, igridmins[1]);
220 //igridmins[2] = max(0, igridmins[2]);
221 igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
222 igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
223 //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
225 // paranoid debugging
226 //VectorSet(igridmins, 0, 0, 0);VectorSet(igridmaxs, AREA_GRID, AREA_GRID, AREA_GRID);
229 // add entities not linked into areagrid because they are too big or
230 // outside the grid bounds
231 if (world->areagrid_outside.list.next)
233 grid = &world->areagrid_outside;
234 List_For_Each_Entry(l, &grid->list, link_t, list)
236 ent = PRVM_EDICT_NUM(l->entitynumber);
237 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
239 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
240 if (!ent->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
242 if (numlist < maxlist)
246 world->areagrid_stats_entitychecks++;
250 // add grid linked entities
251 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
253 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
254 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
258 List_For_Each_Entry(l, &grid->list, link_t, list)
260 ent = PRVM_EDICT_NUM(l->entitynumber);
261 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
263 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
264 if (!ent->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
266 if (numlist < maxlist)
270 //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]);
272 world->areagrid_stats_entitychecks++;
280 static void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
282 prvm_prog_t *prog = world->prog;
284 int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
286 if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
288 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);
292 igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
293 igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
294 //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
295 igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
296 igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
297 //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
298 if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
300 // wow, something outside the grid, store it as such
301 World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
306 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
308 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
309 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
310 World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
320 void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs, qbool link_solid_not)
322 prvm_prog_t *prog = world->prog;
323 // unlink from old position first
324 if (ent->priv.server->areagrid[0].list.prev)
325 World_UnlinkEdict(ent);
327 // some games don't want SOLID_NOT entities linked
328 if (!link_solid_not && PRVM_serveredictfloat(ent, solid) == SOLID_NOT)
331 // don't add the world
332 if (ent == prog->edicts)
335 // don't add free entities
339 VectorCopy(mins, ent->priv.server->areamins);
340 VectorCopy(maxs, ent->priv.server->areamaxs);
341 World_LinkEdict_AreaGrid(world, ent);
347 //============================================================================
348 // physics engine support
349 //============================================================================
352 cvar_t physics_ode_quadtree_depth = {CF_CLIENT | CF_SERVER, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
353 cvar_t physics_ode_allowconvex = {CF_CLIENT | CF_SERVER, "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."};
354 cvar_t physics_ode_contactsurfacelayer = {CF_CLIENT | CF_SERVER, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"};
355 cvar_t physics_ode_worldstep_iterations = {CF_CLIENT | CF_SERVER, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep"};
356 cvar_t physics_ode_contact_mu = {CF_CLIENT | CF_SERVER, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
357 cvar_t physics_ode_contact_erp = {CF_CLIENT | CF_SERVER, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
358 cvar_t physics_ode_contact_cfm = {CF_CLIENT | CF_SERVER, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
359 cvar_t physics_ode_contact_maxpoints = {CF_CLIENT | CF_SERVER, "physics_ode_contact_maxpoints", "16", "maximal number of contact points between 2 objects, higher = stable (and slower), can be up to 32"};
360 cvar_t physics_ode_world_erp = {CF_CLIENT | CF_SERVER, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
361 cvar_t physics_ode_world_cfm = {CF_CLIENT | CF_SERVER, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
362 cvar_t physics_ode_world_damping = {CF_CLIENT | CF_SERVER, "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"};
363 cvar_t physics_ode_world_damping_linear = {CF_CLIENT | CF_SERVER, "physics_ode_world_damping_linear", "0.01", "world linear damping scale (see ODE User Guide); use defaults when set to -1"};
364 cvar_t physics_ode_world_damping_linear_threshold = {CF_CLIENT | CF_SERVER, "physics_ode_world_damping_linear_threshold", "0.1", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"};
365 cvar_t physics_ode_world_damping_angular = {CF_CLIENT | CF_SERVER, "physics_ode_world_damping_angular", "0.05", "world angular damping scale (see ODE User Guide); use defaults when set to -1"};
366 cvar_t physics_ode_world_damping_angular_threshold = {CF_CLIENT | CF_SERVER, "physics_ode_world_damping_angular_threshold", "0.1", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"};
367 cvar_t physics_ode_world_gravitymod = {CF_CLIENT | CF_SERVER, "physics_ode_world_gravitymod", "1", "multiplies gravity got from sv_gravity, this may be needed to tweak if strong damping is used"};
368 cvar_t physics_ode_iterationsperframe = {CF_CLIENT | CF_SERVER, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"};
369 cvar_t physics_ode_constantstep = {CF_CLIENT | CF_SERVER, "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"};
370 cvar_t physics_ode_autodisable = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"};
371 cvar_t physics_ode_autodisable_steps = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"};
372 cvar_t physics_ode_autodisable_time = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"};
373 cvar_t physics_ode_autodisable_threshold_linear = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_threshold_linear", "0.6", "body will be disabled if it's linear move below this value"};
374 cvar_t physics_ode_autodisable_threshold_angular = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_threshold_angular", "6", "body will be disabled if it's angular move below this value"};
375 cvar_t physics_ode_autodisable_threshold_samples = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"};
376 cvar_t physics_ode_movelimit = {CF_CLIENT | CF_SERVER, "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"};
377 cvar_t physics_ode_spinlimit = {CF_CLIENT | CF_SERVER, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
378 cvar_t physics_ode_trick_fixnan = {CF_CLIENT | CF_SERVER, "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"};
379 cvar_t physics_ode_printstats = {CF_CLIENT | CF_SERVER, "physics_ode_printstats", "0", "print ODE stats each frame"};
381 cvar_t physics_ode = {CF_CLIENT | CF_SERVER, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"};
383 // LadyHavoc: this large chunk of definitions comes from the ODE library
386 #ifdef LINK_TO_LIBODE
390 // ODE does not use WINAPI
396 // note: dynamic builds of ODE tend to be double precision, this is not used
398 typedef double dReal;
400 typedef dReal dVector3[4];
401 typedef dReal dVector4[4];
402 typedef dReal dMatrix3[4*3];
403 typedef dReal dMatrix4[4*4];
404 typedef dReal dMatrix6[8*6];
405 typedef dReal dQuaternion[4];
407 struct dxWorld; /* dynamics world */
408 struct dxSpace; /* collision space */
409 struct dxBody; /* rigid body (dynamics object) */
410 struct dxGeom; /* geometry (collision object) */
414 struct dxTriMeshData;
416 #define dInfinity 3.402823466e+38f
418 typedef struct dxWorld *dWorldID;
419 typedef struct dxSpace *dSpaceID;
420 typedef struct dxBody *dBodyID;
421 typedef struct dxGeom *dGeomID;
422 typedef struct dxJoint *dJointID;
423 typedef struct dxJointGroup *dJointGroupID;
424 typedef struct dxTriMeshData *dTriMeshDataID;
426 typedef struct dJointFeedback
428 dVector3 f1; /* force applied to body 1 */
429 dVector3 t1; /* torque applied to body 1 */
430 dVector3 f2; /* force applied to body 2 */
431 dVector3 t2; /* torque applied to body 2 */
435 typedef enum dJointType
455 #define D_ALL_PARAM_NAMES(start) \
456 /* parameters for limits and motors */ \
457 dParamLoStop = start, \
466 /* parameters for suspension */ \
467 dParamSuspensionERP, \
468 dParamSuspensionCFM, \
471 #define D_ALL_PARAM_NAMES_X(start,x) \
472 /* parameters for limits and motors */ \
473 dParamLoStop ## x = start, \
477 dParamFudgeFactor ## x, \
480 dParamStopERP ## x, \
481 dParamStopCFM ## x, \
482 /* parameters for suspension */ \
483 dParamSuspensionERP ## x, \
484 dParamSuspensionCFM ## x, \
489 D_ALL_PARAM_NAMES_X(0x100,2)
490 D_ALL_PARAM_NAMES_X(0x200,3)
492 /* add a multiple of this constant to the basic parameter numbers to get
493 * the parameters for the second, third etc axes.
509 dContactFDir1 = 0x002,
510 dContactBounce = 0x004,
511 dContactSoftERP = 0x008,
512 dContactSoftCFM = 0x010,
513 dContactMotion1 = 0x020,
514 dContactMotion2 = 0x040,
515 dContactMotionN = 0x080,
516 dContactSlip1 = 0x100,
517 dContactSlip2 = 0x200,
519 dContactApprox0 = 0x0000,
520 dContactApprox1_1 = 0x1000,
521 dContactApprox1_2 = 0x2000,
522 dContactApprox1 = 0x3000
525 typedef struct dSurfaceParameters
527 /* must always be defined */
531 /* only defined if the corresponding flag is set in mode */
537 dReal motion1,motion2,motionN;
539 } dSurfaceParameters;
541 typedef struct dContactGeom
543 dVector3 pos; ///< contact position
544 dVector3 normal; ///< normal vector
545 dReal depth; ///< penetration depth
546 dGeomID g1,g2; ///< the colliding geoms
547 int side1,side2; ///< (to be documented)
551 typedef struct dContact
553 dSurfaceParameters surface;
559 typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
562 // Order XZY or ZXY usually works best, if your Y is up.
563 #define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
564 #define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
565 #define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
566 #define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
567 #define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
568 #define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
570 const char* (ODE_API *dGetConfiguration)(void);
571 int (ODE_API *dCheckConfiguration)( const char* token );
572 int (ODE_API *dInitODE)(void);
573 //int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
574 //int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
575 //void (ODE_API *dCleanupODEAllDataForThread)(void);
576 void (ODE_API *dCloseODE)(void);
578 //int (ODE_API *dMassCheck)(const dMass *m);
579 //void (ODE_API *dMassSetZero)(dMass *);
580 //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);
581 //void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
582 void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
583 //void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
584 void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
585 //void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
586 void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
587 //void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
588 void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
589 //void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
590 //void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
591 //void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
592 //void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
593 //void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
594 //void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
596 dWorldID (ODE_API *dWorldCreate)(void);
597 void (ODE_API *dWorldDestroy)(dWorldID world);
598 void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
599 void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
600 void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
601 //dReal (ODE_API *dWorldGetERP)(dWorldID);
602 void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
603 //dReal (ODE_API *dWorldGetCFM)(dWorldID);
604 //void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
605 //void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
606 void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
607 void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
608 //int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
609 //void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
610 //dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
611 //void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
612 //dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
613 void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
614 //dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
615 //void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
616 //void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
617 //int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
618 //dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
619 void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
620 //dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
621 void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
622 //dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
623 //void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
624 //dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
625 //void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
626 //int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
627 void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
628 //int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
629 void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
630 //dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
631 void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
632 //int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
633 void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
634 //dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
635 void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
636 //dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
637 void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
638 //dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
639 void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
640 //dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
641 void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
642 //void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
643 //dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
644 //void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
645 //dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
646 //void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
647 //dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
648 //void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
649 //int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
650 //void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
651 //int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
652 //void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
653 //dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
654 //void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
655 //int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
656 //void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
657 //void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
658 //dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
659 dBodyID (ODE_API *dBodyCreate)(dWorldID);
660 void (ODE_API *dBodyDestroy)(dBodyID);
661 void (ODE_API *dBodySetData)(dBodyID, void *data);
662 void * (ODE_API *dBodyGetData)(dBodyID);
663 void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
664 void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
665 //void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
666 void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
667 void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
668 const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
669 //void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
670 const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
671 //void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
672 //const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
673 //void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
674 const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
675 const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
676 void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
677 //void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
678 void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
679 void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
680 //void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
681 //void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
682 void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
683 //void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
684 //void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
685 //void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
686 //const dReal * (ODE_API *dBodyGetForce)(dBodyID);
687 //const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
688 //void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
689 //void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
690 //void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
691 //void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
692 //void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
693 //void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
694 //void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
695 //void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
696 //void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
697 //void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
698 //int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
699 //void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
700 int (ODE_API *dBodyGetNumJoints)(dBodyID b);
701 dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
702 //void (ODE_API *dBodySetDynamic)(dBodyID);
703 //void (ODE_API *dBodySetKinematic)(dBodyID);
704 //int (ODE_API *dBodyIsKinematic)(dBodyID);
705 void (ODE_API *dBodyEnable)(dBodyID);
706 void (ODE_API *dBodyDisable)(dBodyID);
707 int (ODE_API *dBodyIsEnabled)(dBodyID);
708 void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
709 int (ODE_API *dBodyGetGravityMode)(dBodyID b);
710 //void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
711 //dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
712 //dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
713 //void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
714 //dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
715 //void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
716 //dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
717 //void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
718 //void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
719 //dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
720 //void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
721 //dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
722 //void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
723 //dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
724 //void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
725 //int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
726 //void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
727 dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
728 dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
729 dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
730 dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
731 dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
732 dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
733 //dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
734 //dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
735 //dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
736 dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
737 //dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
738 //dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
739 //dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
740 //dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
741 void (ODE_API *dJointDestroy)(dJointID);
742 dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
743 void (ODE_API *dJointGroupDestroy)(dJointGroupID);
744 void (ODE_API *dJointGroupEmpty)(dJointGroupID);
745 //int (ODE_API *dJointGetNumBodies)(dJointID);
746 void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
747 //void (ODE_API *dJointEnable)(dJointID);
748 //void (ODE_API *dJointDisable)(dJointID);
749 //int (ODE_API *dJointIsEnabled)(dJointID);
750 void (ODE_API *dJointSetData)(dJointID, void *data);
751 void * (ODE_API *dJointGetData)(dJointID);
752 //dJointType (ODE_API *dJointGetType)(dJointID);
753 dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
754 //void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
755 //dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
756 void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
757 //void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
758 void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
759 void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
760 //void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
761 void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
762 //void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
763 void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
764 //void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
765 void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
766 //void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
767 void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
768 //void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
769 void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
770 void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
771 void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
772 void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
773 //void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
774 void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
775 void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
776 //void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
777 void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
778 //void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
779 void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
780 //void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
781 //void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
782 //void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
783 //void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
784 //void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
785 //void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
786 //void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
787 //void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
788 //void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
789 //void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
790 //void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
791 //void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
792 //void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
793 //void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
794 //void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
795 //void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
796 //void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
797 //void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
798 //void (ODE_API *dJointSetFixed)(dJointID);
799 //void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
800 //void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
801 //void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
802 //void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
803 //void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
804 //void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
805 //void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
806 //void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
807 //void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
808 //void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
809 //void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
810 //void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
811 //void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
812 //void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
813 //void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
814 //dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
815 //void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
816 //void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
817 //void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
818 //dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
819 //dReal (ODE_API *dJointGetHingeAngle)(dJointID);
820 //dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
821 //dReal (ODE_API *dJointGetSliderPosition)(dJointID);
822 //dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
823 //void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
824 //dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
825 //void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
826 //void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
827 //void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
828 //void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
829 //dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
830 //dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
831 //dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
832 //dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
833 //void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
834 //void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
835 //void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
836 //void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
837 //dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
838 //void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
839 //dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
840 //dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
841 //dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
842 //dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
843 //void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
844 //dReal (ODE_API *dJointGetPRPosition)(dJointID);
845 //dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
846 //dReal (ODE_API *dJointGetPRAngle)(dJointID);
847 //dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
848 //void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
849 //void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
850 //dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
851 //void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
852 //dReal (ODE_API *dJointGetPUPosition)(dJointID);
853 //dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
854 //void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
855 //void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
856 //void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
857 //void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
858 //void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
859 //dReal (ODE_API *dJointGetPUAngle1)(dJointID);
860 //dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
861 //dReal (ODE_API *dJointGetPUAngle2)(dJointID);
862 //dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
863 //dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
864 //dReal (ODE_API *dJointGetPistonPosition)(dJointID);
865 //dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
866 //dReal (ODE_API *dJointGetPistonAngle)(dJointID);
867 //dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
868 //void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
869 //void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
870 //void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
871 //dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
872 //int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
873 //void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
874 //int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
875 //dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
876 //dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
877 //dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
878 //int (ODE_API *dJointGetAMotorMode)(dJointID);
879 //int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
880 //void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
881 //dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
882 //dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
883 //dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
884 //int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
885 int (ODE_API *dAreConnected)(dBodyID, dBodyID);
886 int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
888 dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
889 dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
890 dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
891 //dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
892 void (ODE_API *dSpaceDestroy)(dSpaceID);
893 //void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
894 //void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
895 //void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
896 //int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
897 //void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
898 //int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
899 //void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
900 //int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
901 //void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
902 //void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
903 //int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
904 //void (ODE_API *dSpaceClean)(dSpaceID);
905 //int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
906 //dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
907 //int (ODE_API *dSpaceGetClass)(dSpaceID space);
909 void (ODE_API *dGeomDestroy)(dGeomID geom);
910 void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
911 void * (ODE_API *dGeomGetData)(dGeomID geom);
912 void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
913 dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
914 void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
915 void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
916 //void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
917 //const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
918 //void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
919 //const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
920 //void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
921 //void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
922 //void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
923 int (ODE_API *dGeomIsSpace)(dGeomID geom);
924 //dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
925 //int (ODE_API *dGeomGetClass)(dGeomID geom);
926 //void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
927 //void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
928 //unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
929 //unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
930 //void (ODE_API *dGeomEnable)(dGeomID geom);
931 //void (ODE_API *dGeomDisable)(dGeomID geom);
932 //int (ODE_API *dGeomIsEnabled)(dGeomID geom);
933 //void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
934 //void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
935 //void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
936 //void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
937 //void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
938 //void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
939 //void (ODE_API *dGeomClearOffset)(dGeomID geom);
940 //int (ODE_API *dGeomIsOffset)(dGeomID geom);
941 //const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
942 //void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
943 //const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
944 //void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
945 //void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
946 int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
948 void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
949 void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
951 dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
952 //void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
953 //dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
954 //dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
956 dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
957 //void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
959 dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
960 //void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
961 //void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
962 //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
963 //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
965 //dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
966 //void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
967 //void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
968 //dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
970 dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
971 //void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
972 //void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
973 //dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
975 dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
976 //void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
977 //void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
979 //dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
980 //void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
981 //dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
982 //void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
983 //void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
985 dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
986 void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
987 //dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
988 void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
989 //int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
990 //void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
991 //int (ODE_API *dGeomTransformGetInfo)(dGeomID g);
993 enum { TRIMESH_FACE_NORMALS };
994 typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
995 typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
996 typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
997 typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
999 dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
1000 void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
1001 //void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
1002 //void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
1003 //void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
1004 //dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
1005 void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
1006 //void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
1007 //void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
1008 //void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
1009 //void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
1010 //void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
1011 //void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
1012 //void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
1013 //void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
1014 //void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
1015 //dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
1016 //void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
1017 //dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
1018 //void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
1019 //dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
1020 //void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
1021 //dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
1022 dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
1023 //void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
1024 //dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
1025 //void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
1026 //int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
1027 //void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
1028 //dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
1029 //void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
1030 //void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
1031 //int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
1032 //void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
1034 static dllfunction_t odefuncs[] =
1036 {"dGetConfiguration", (void **) &dGetConfiguration},
1037 {"dCheckConfiguration", (void **) &dCheckConfiguration},
1038 {"dInitODE", (void **) &dInitODE},
1039 // {"dInitODE2", (void **) &dInitODE2},
1040 // {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
1041 // {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
1042 {"dCloseODE", (void **) &dCloseODE},
1043 // {"dMassCheck", (void **) &dMassCheck},
1044 // {"dMassSetZero", (void **) &dMassSetZero},
1045 // {"dMassSetParameters", (void **) &dMassSetParameters},
1046 // {"dMassSetSphere", (void **) &dMassSetSphere},
1047 {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal},
1048 // {"dMassSetCapsule", (void **) &dMassSetCapsule},
1049 {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal},
1050 // {"dMassSetCylinder", (void **) &dMassSetCylinder},
1051 {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
1052 // {"dMassSetBox", (void **) &dMassSetBox},
1053 {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal},
1054 // {"dMassSetTrimesh", (void **) &dMassSetTrimesh},
1055 // {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal},
1056 // {"dMassAdjust", (void **) &dMassAdjust},
1057 // {"dMassTranslate", (void **) &dMassTranslate},
1058 // {"dMassRotate", (void **) &dMassRotate},
1059 // {"dMassAdd", (void **) &dMassAdd},
1061 {"dWorldCreate", (void **) &dWorldCreate},
1062 {"dWorldDestroy", (void **) &dWorldDestroy},
1063 {"dWorldSetGravity", (void **) &dWorldSetGravity},
1064 {"dWorldGetGravity", (void **) &dWorldGetGravity},
1065 {"dWorldSetERP", (void **) &dWorldSetERP},
1066 // {"dWorldGetERP", (void **) &dWorldGetERP},
1067 {"dWorldSetCFM", (void **) &dWorldSetCFM},
1068 // {"dWorldGetCFM", (void **) &dWorldGetCFM},
1069 // {"dWorldStep", (void **) &dWorldStep},
1070 // {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
1071 {"dWorldQuickStep", (void **) &dWorldQuickStep},
1072 {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations},
1073 // {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations},
1074 // {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW},
1075 // {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW},
1076 // {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel},
1077 // {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel},
1078 {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer},
1079 // {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer},
1080 // {"dWorldStepFast1", (void **) &dWorldStepFast1},
1081 // {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1},
1082 // {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1},
1083 // {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold},
1084 {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
1085 // {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
1086 {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
1087 // {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
1088 // {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
1089 // {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
1090 // {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
1091 // {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
1092 {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
1093 // {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
1094 {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
1095 // {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
1096 {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
1097 // {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
1098 {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
1099 // {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
1100 {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
1101 // {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
1102 {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
1103 // {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
1104 {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
1105 // {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
1106 {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
1107 // {"dWorldSetDamping", (void **) &dWorldSetDamping},
1108 // {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed},
1109 // {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed},
1110 // {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold},
1111 // {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold},
1112 // {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold},
1113 // {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold},
1114 // {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount},
1115 // {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount},
1116 // {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps},
1117 // {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps},
1118 // {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime},
1119 // {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime},
1120 // {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag},
1121 // {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag},
1122 // {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults},
1123 // {"dBodyGetWorld", (void **) &dBodyGetWorld},
1124 {"dBodyCreate", (void **) &dBodyCreate},
1125 {"dBodyDestroy", (void **) &dBodyDestroy},
1126 {"dBodySetData", (void **) &dBodySetData},
1127 {"dBodyGetData", (void **) &dBodyGetData},
1128 {"dBodySetPosition", (void **) &dBodySetPosition},
1129 {"dBodySetRotation", (void **) &dBodySetRotation},
1130 // {"dBodySetQuaternion", (void **) &dBodySetQuaternion},
1131 {"dBodySetLinearVel", (void **) &dBodySetLinearVel},
1132 {"dBodySetAngularVel", (void **) &dBodySetAngularVel},
1133 {"dBodyGetPosition", (void **) &dBodyGetPosition},
1134 // {"dBodyCopyPosition", (void **) &dBodyCopyPosition},
1135 {"dBodyGetRotation", (void **) &dBodyGetRotation},
1136 // {"dBodyCopyRotation", (void **) &dBodyCopyRotation},
1137 // {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion},
1138 // {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion},
1139 {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel},
1140 {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
1141 {"dBodySetMass", (void **) &dBodySetMass},
1142 // {"dBodyGetMass", (void **) &dBodyGetMass},
1143 {"dBodyAddForce", (void **) &dBodyAddForce},
1144 {"dBodyAddTorque", (void **) &dBodyAddTorque},
1145 // {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
1146 // {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
1147 {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
1148 // {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
1149 // {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
1150 // {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
1151 // {"dBodyGetForce", (void **) &dBodyGetForce},
1152 // {"dBodyGetTorque", (void **) &dBodyGetTorque},
1153 // {"dBodySetForce", (void **) &dBodySetForce},
1154 // {"dBodySetTorque", (void **) &dBodySetTorque},
1155 // {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos},
1156 // {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel},
1157 // {"dBodyGetPointVel", (void **) &dBodyGetPointVel},
1158 // {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint},
1159 // {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld},
1160 // {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld},
1161 // {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode},
1162 // {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis},
1163 // {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode},
1164 // {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis},
1165 {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints},
1166 {"dBodyGetJoint", (void **) &dBodyGetJoint},
1167 // {"dBodySetDynamic", (void **) &dBodySetDynamic},
1168 // {"dBodySetKinematic", (void **) &dBodySetKinematic},
1169 // {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
1170 {"dBodyEnable", (void **) &dBodyEnable},
1171 {"dBodyDisable", (void **) &dBodyDisable},
1172 {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
1173 {"dBodySetGravityMode", (void **) &dBodySetGravityMode},
1174 {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
1175 // {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
1176 // {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom},
1177 // {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
1178 // {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
1179 // {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
1180 // {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
1181 // {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
1182 // {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
1183 // {"dBodySetDamping", (void **) &dBodySetDamping},
1184 // {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
1185 // {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
1186 // {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
1187 // {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
1188 // {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
1189 // {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
1190 // {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
1191 // {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
1192 {"dJointCreateBall", (void **) &dJointCreateBall},
1193 {"dJointCreateHinge", (void **) &dJointCreateHinge},
1194 {"dJointCreateSlider", (void **) &dJointCreateSlider},
1195 {"dJointCreateContact", (void **) &dJointCreateContact},
1196 {"dJointCreateHinge2", (void **) &dJointCreateHinge2},
1197 {"dJointCreateUniversal", (void **) &dJointCreateUniversal},
1198 // {"dJointCreatePR", (void **) &dJointCreatePR},
1199 // {"dJointCreatePU", (void **) &dJointCreatePU},
1200 // {"dJointCreatePiston", (void **) &dJointCreatePiston},
1201 {"dJointCreateFixed", (void **) &dJointCreateFixed},
1202 // {"dJointCreateNull", (void **) &dJointCreateNull},
1203 // {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
1204 // {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
1205 // {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D},
1206 {"dJointDestroy", (void **) &dJointDestroy},
1207 {"dJointGroupCreate", (void **) &dJointGroupCreate},
1208 {"dJointGroupDestroy", (void **) &dJointGroupDestroy},
1209 {"dJointGroupEmpty", (void **) &dJointGroupEmpty},
1210 // {"dJointGetNumBodies", (void **) &dJointGetNumBodies},
1211 {"dJointAttach", (void **) &dJointAttach},
1212 // {"dJointEnable", (void **) &dJointEnable},
1213 // {"dJointDisable", (void **) &dJointDisable},
1214 // {"dJointIsEnabled", (void **) &dJointIsEnabled},
1215 {"dJointSetData", (void **) &dJointSetData},
1216 {"dJointGetData", (void **) &dJointGetData},
1217 // {"dJointGetType", (void **) &dJointGetType},
1218 {"dJointGetBody", (void **) &dJointGetBody},
1219 // {"dJointSetFeedback", (void **) &dJointSetFeedback},
1220 // {"dJointGetFeedback", (void **) &dJointGetFeedback},
1221 {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor},
1222 // {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2},
1223 {"dJointSetBallParam", (void **) &dJointSetBallParam},
1224 {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor},
1225 // {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta},
1226 {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis},
1227 // {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset},
1228 {"dJointSetHingeParam", (void **) &dJointSetHingeParam},
1229 // {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque},
1230 {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis},
1231 // {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta},
1232 {"dJointSetSliderParam", (void **) &dJointSetSliderParam},
1233 // {"dJointAddSliderForce", (void **) &dJointAddSliderForce},
1234 {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor},
1235 {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1},
1236 {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2},
1237 {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param},
1238 // {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques},
1239 {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor},
1240 {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1},
1241 // {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset},
1242 {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2},
1243 // {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset},
1244 {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam},
1245 // {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques},
1246 // {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor},
1247 // {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1},
1248 // {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2},
1249 // {"dJointSetPRParam", (void **) &dJointSetPRParam},
1250 // {"dJointAddPRTorque", (void **) &dJointAddPRTorque},
1251 // {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor},
1252 // {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset},
1253 // {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1},
1254 // {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2},
1255 // {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3},
1256 // {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP},
1257 // {"dJointSetPUParam", (void **) &dJointSetPUParam},
1258 // {"dJointAddPUTorque", (void **) &dJointAddPUTorque},
1259 // {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor},
1260 // {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset},
1261 // {"dJointSetPistonParam", (void **) &dJointSetPistonParam},
1262 // {"dJointAddPistonForce", (void **) &dJointAddPistonForce},
1263 // {"dJointSetFixed", (void **) &dJointSetFixed},
1264 // {"dJointSetFixedParam", (void **) &dJointSetFixedParam},
1265 // {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes},
1266 // {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis},
1267 // {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle},
1268 // {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam},
1269 // {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode},
1270 // {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques},
1271 // {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes},
1272 // {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis},
1273 // {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam},
1274 // {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam},
1275 // {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam},
1276 // {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam},
1277 // {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor},
1278 // {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2},
1279 // {"dJointGetBallParam", (void **) &dJointGetBallParam},
1280 // {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor},
1281 // {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2},
1282 // {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis},
1283 // {"dJointGetHingeParam", (void **) &dJointGetHingeParam},
1284 // {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle},
1285 // {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate},
1286 // {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition},
1287 // {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate},
1288 // {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis},
1289 // {"dJointGetSliderParam", (void **) &dJointGetSliderParam},
1290 // {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor},
1291 // {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2},
1292 // {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1},
1293 // {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2},
1294 // {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param},
1295 // {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1},
1296 // {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate},
1297 // {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate},
1298 // {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor},
1299 // {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2},
1300 // {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1},
1301 // {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2},
1302 // {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam},
1303 // {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles},
1304 // {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1},
1305 // {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2},
1306 // {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate},
1307 // {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate},
1308 // {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor},
1309 // {"dJointGetPRPosition", (void **) &dJointGetPRPosition},
1310 // {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate},
1311 // {"dJointGetPRAngle", (void **) &dJointGetPRAngle},
1312 // {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate},
1313 // {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1},
1314 // {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2},
1315 // {"dJointGetPRParam", (void **) &dJointGetPRParam},
1316 // {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor},
1317 // {"dJointGetPUPosition", (void **) &dJointGetPUPosition},
1318 // {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate},
1319 // {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1},
1320 // {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2},
1321 // {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3},
1322 // {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP},
1323 // {"dJointGetPUAngles", (void **) &dJointGetPUAngles},
1324 // {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1},
1325 // {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate},
1326 // {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2},
1327 // {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate},
1328 // {"dJointGetPUParam", (void **) &dJointGetPUParam},
1329 // {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition},
1330 // {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate},
1331 // {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle},
1332 // {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate},
1333 // {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor},
1334 // {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2},
1335 // {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis},
1336 // {"dJointGetPistonParam", (void **) &dJointGetPistonParam},
1337 // {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes},
1338 // {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis},
1339 // {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel},
1340 // {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle},
1341 // {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate},
1342 // {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam},
1343 // {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode},
1344 // {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes},
1345 // {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis},
1346 // {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam},
1347 // {"dJointGetFixedParam", (void **) &dJointGetFixedParam},
1348 // {"dConnectingJoint", (void **) &dConnectingJoint},
1349 // {"dConnectingJointList", (void **) &dConnectingJointList},
1350 {"dAreConnected", (void **) &dAreConnected},
1351 {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding},
1352 {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate},
1353 {"dHashSpaceCreate", (void **) &dHashSpaceCreate},
1354 {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate},
1355 // {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
1356 {"dSpaceDestroy", (void **) &dSpaceDestroy},
1357 // {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels},
1358 // {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels},
1359 // {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup},
1360 // {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup},
1361 // {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel},
1362 // {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel},
1363 // {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup},
1364 // {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup},
1365 // {"dSpaceAdd", (void **) &dSpaceAdd},
1366 // {"dSpaceRemove", (void **) &dSpaceRemove},
1367 // {"dSpaceQuery", (void **) &dSpaceQuery},
1368 // {"dSpaceClean", (void **) &dSpaceClean},
1369 // {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms},
1370 // {"dSpaceGetGeom", (void **) &dSpaceGetGeom},
1371 // {"dSpaceGetClass", (void **) &dSpaceGetClass},
1372 {"dGeomDestroy", (void **) &dGeomDestroy},
1373 {"dGeomSetData", (void **) &dGeomSetData},
1374 {"dGeomGetData", (void **) &dGeomGetData},
1375 {"dGeomSetBody", (void **) &dGeomSetBody},
1376 {"dGeomGetBody", (void **) &dGeomGetBody},
1377 {"dGeomSetPosition", (void **) &dGeomSetPosition},
1378 {"dGeomSetRotation", (void **) &dGeomSetRotation},
1379 // {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
1380 // {"dGeomGetPosition", (void **) &dGeomGetPosition},
1381 // {"dGeomCopyPosition", (void **) &dGeomCopyPosition},
1382 // {"dGeomGetRotation", (void **) &dGeomGetRotation},
1383 // {"dGeomCopyRotation", (void **) &dGeomCopyRotation},
1384 // {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion},
1385 // {"dGeomGetAABB", (void **) &dGeomGetAABB},
1386 {"dGeomIsSpace", (void **) &dGeomIsSpace},
1387 // {"dGeomGetSpace", (void **) &dGeomGetSpace},
1388 // {"dGeomGetClass", (void **) &dGeomGetClass},
1389 // {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits},
1390 // {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits},
1391 // {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits},
1392 // {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits},
1393 // {"dGeomEnable", (void **) &dGeomEnable},
1394 // {"dGeomDisable", (void **) &dGeomDisable},
1395 // {"dGeomIsEnabled", (void **) &dGeomIsEnabled},
1396 // {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition},
1397 // {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation},
1398 // {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion},
1399 // {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition},
1400 // {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation},
1401 // {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion},
1402 // {"dGeomClearOffset", (void **) &dGeomClearOffset},
1403 // {"dGeomIsOffset", (void **) &dGeomIsOffset},
1404 // {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition},
1405 // {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition},
1406 // {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation},
1407 // {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation},
1408 // {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion},
1409 {"dCollide", (void **) &dCollide},
1410 {"dSpaceCollide", (void **) &dSpaceCollide},
1411 {"dSpaceCollide2", (void **) &dSpaceCollide2},
1412 {"dCreateSphere", (void **) &dCreateSphere},
1413 // {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
1414 // {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
1415 // {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
1416 {"dCreateConvex", (void **) &dCreateConvex},
1417 // {"dGeomSetConvex", (void **) &dGeomSetConvex},
1418 {"dCreateBox", (void **) &dCreateBox},
1419 // {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
1420 // {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths},
1421 // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1422 // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1423 // {"dCreatePlane", (void **) &dCreatePlane},
1424 // {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams},
1425 // {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams},
1426 // {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth},
1427 {"dCreateCapsule", (void **) &dCreateCapsule},
1428 // {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams},
1429 // {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams},
1430 // {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth},
1431 {"dCreateCylinder", (void **) &dCreateCylinder},
1432 // {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams},
1433 // {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams},
1434 // {"dCreateRay", (void **) &dCreateRay},
1435 // {"dGeomRaySetLength", (void **) &dGeomRaySetLength},
1436 // {"dGeomRayGetLength", (void **) &dGeomRayGetLength},
1437 // {"dGeomRaySet", (void **) &dGeomRaySet},
1438 // {"dGeomRayGet", (void **) &dGeomRayGet},
1439 {"dCreateGeomTransform", (void **) &dCreateGeomTransform},
1440 {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom},
1441 // {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom},
1442 {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup},
1443 // {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup},
1444 // {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo},
1445 // {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo},
1446 {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate},
1447 {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy},
1448 // {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet},
1449 // {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet},
1450 // {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform},
1451 // {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform},
1452 {"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle},
1453 // {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1},
1454 // {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble},
1455 // {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1},
1456 // {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple},
1457 // {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1},
1458 // {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess},
1459 // {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer},
1460 // {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer},
1461 // {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback},
1462 // {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback},
1463 // {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback},
1464 // {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback},
1465 // {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback},
1466 // {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback},
1467 // {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback},
1468 // {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback},
1469 {"dCreateTriMesh", (void **) &dCreateTriMesh},
1470 // {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData},
1471 // {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData},
1472 // {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC},
1473 // {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled},
1474 // {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache},
1475 // {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID},
1476 // {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle},
1477 // {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint},
1478 // {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount},
1479 // {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate},
1482 // Handle for ODE DLL
1483 dllhandle_t ode_dll = NULL;
1486 static void World_Physics_Init(void)
1488 #ifndef LINK_TO_LIBODE
1489 const char* dllnames [] =
1495 # elif defined(MACOSX)
1508 Cvar_RegisterVariable(&physics_ode_quadtree_depth);
1509 Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
1510 Cvar_RegisterVariable(&physics_ode_worldstep_iterations);
1511 Cvar_RegisterVariable(&physics_ode_contact_mu);
1512 Cvar_RegisterVariable(&physics_ode_contact_erp);
1513 Cvar_RegisterVariable(&physics_ode_contact_cfm);
1514 Cvar_RegisterVariable(&physics_ode_contact_maxpoints);
1515 Cvar_RegisterVariable(&physics_ode_world_erp);
1516 Cvar_RegisterVariable(&physics_ode_world_cfm);
1517 Cvar_RegisterVariable(&physics_ode_world_damping);
1518 Cvar_RegisterVariable(&physics_ode_world_damping_linear);
1519 Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold);
1520 Cvar_RegisterVariable(&physics_ode_world_damping_angular);
1521 Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold);
1522 Cvar_RegisterVariable(&physics_ode_world_gravitymod);
1523 Cvar_RegisterVariable(&physics_ode_iterationsperframe);
1524 Cvar_RegisterVariable(&physics_ode_constantstep);
1525 Cvar_RegisterVariable(&physics_ode_movelimit);
1526 Cvar_RegisterVariable(&physics_ode_spinlimit);
1527 Cvar_RegisterVariable(&physics_ode_trick_fixnan);
1528 Cvar_RegisterVariable(&physics_ode_autodisable);
1529 Cvar_RegisterVariable(&physics_ode_autodisable_steps);
1530 Cvar_RegisterVariable(&physics_ode_autodisable_time);
1531 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_linear);
1532 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular);
1533 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples);
1534 Cvar_RegisterVariable(&physics_ode_printstats);
1535 Cvar_RegisterVariable(&physics_ode_allowconvex);
1536 Cvar_RegisterVariable(&physics_ode);
1538 #ifndef LINK_TO_LIBODE
1540 if (Sys_LoadDependency (dllnames, &ode_dll, odefuncs))
1545 #ifndef LINK_TO_LIBODE
1547 if (!dCheckConfiguration("ODE_single_precision"))
1549 if (!dCheckConfiguration("ODE_double_precision"))
1553 Con_Printf("ODE library not compiled for single precision - incompatible! Not using ODE physics.\n");
1555 Con_Printf("ODE library not compiled for double precision - incompatible! Not using ODE physics.\n");
1557 Sys_FreeLibrary(&ode_dll);
1563 Con_Printf("ODE library loaded with single precision.\n");
1565 Con_Printf("ODE library loaded with double precision.\n");
1567 Con_Printf("ODE configuration list: %s\n", dGetConfiguration());
1572 static void World_Physics_Shutdown(void)
1574 #ifndef LINK_TO_LIBODE
1579 #ifndef LINK_TO_LIBODE
1580 Sys_FreeLibrary(&ode_dll);
1586 static void World_Physics_UpdateODE(world_t *world)
1590 odeworld = (dWorldID)world->physics.ode_world;
1593 if (physics_ode_world_erp.value >= 0)
1594 dWorldSetERP(odeworld, physics_ode_world_erp.value);
1595 if (physics_ode_world_cfm.value >= 0)
1596 dWorldSetCFM(odeworld, physics_ode_world_cfm.value);
1598 if (physics_ode_world_damping.integer)
1600 dWorldSetLinearDamping(odeworld, (physics_ode_world_damping_linear.value >= 0) ? (physics_ode_world_damping_linear.value * physics_ode_world_damping.value) : 0);
1601 dWorldSetLinearDampingThreshold(odeworld, (physics_ode_world_damping_linear_threshold.value >= 0) ? (physics_ode_world_damping_linear_threshold.value * physics_ode_world_damping.value) : 0);
1602 dWorldSetAngularDamping(odeworld, (physics_ode_world_damping_angular.value >= 0) ? (physics_ode_world_damping_angular.value * physics_ode_world_damping.value) : 0);
1603 dWorldSetAngularDampingThreshold(odeworld, (physics_ode_world_damping_angular_threshold.value >= 0) ? (physics_ode_world_damping_angular_threshold.value * physics_ode_world_damping.value) : 0);
1607 dWorldSetLinearDamping(odeworld, 0);
1608 dWorldSetLinearDampingThreshold(odeworld, 0);
1609 dWorldSetAngularDamping(odeworld, 0);
1610 dWorldSetAngularDampingThreshold(odeworld, 0);
1613 dWorldSetAutoDisableFlag(odeworld, (physics_ode_autodisable.integer) ? 1 : 0);
1614 if (physics_ode_autodisable.integer)
1616 dWorldSetAutoDisableSteps(odeworld, bound(1, physics_ode_autodisable_steps.integer, 100));
1617 dWorldSetAutoDisableTime(odeworld, physics_ode_autodisable_time.value);
1618 dWorldSetAutoDisableAverageSamplesCount(odeworld, bound(1, physics_ode_autodisable_threshold_samples.integer, 100));
1619 dWorldSetAutoDisableLinearThreshold(odeworld, physics_ode_autodisable_threshold_linear.value);
1620 dWorldSetAutoDisableAngularThreshold(odeworld, physics_ode_autodisable_threshold_angular.value);
1624 static void World_Physics_EnableODE(world_t *world)
1626 dVector3 center, extents;
1627 if (world->physics.ode)
1629 #ifndef LINK_TO_LIBODE
1633 world->physics.ode = true;
1634 VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
1635 VectorSubtract(world->maxs, center, extents);
1636 world->physics.ode_world = dWorldCreate();
1637 world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
1638 world->physics.ode_contactgroup = dJointGroupCreate(0);
1640 World_Physics_UpdateODE(world);
1643 static void World_Physics_Start(world_t *world)
1645 if (world->physics.ode)
1647 World_Physics_EnableODE(world);
1650 static void World_Physics_End(world_t *world)
1652 if (world->physics.ode)
1654 dWorldDestroy((dWorldID)world->physics.ode_world);
1655 dSpaceDestroy((dSpaceID)world->physics.ode_space);
1656 dJointGroupDestroy((dJointGroupID)world->physics.ode_contactgroup);
1657 world->physics.ode = false;
1661 void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
1663 ed->priv.server->ode_joint_type = 0;
1664 if(ed->priv.server->ode_joint)
1665 dJointDestroy((dJointID)ed->priv.server->ode_joint);
1666 ed->priv.server->ode_joint = NULL;
1669 void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
1671 edict_odefunc_t *f, *nf;
1673 // entity is not physics controlled, free any physics data
1674 ed->priv.server->ode_physics = false;
1675 if (ed->priv.server->ode_geom)
1676 dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
1677 ed->priv.server->ode_geom = NULL;
1678 if (ed->priv.server->ode_body)
1683 while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
1685 j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
1686 ed2 = (prvm_edict_t *) dJointGetData(j);
1687 b1 = dJointGetBody(j, 0);
1688 b2 = dJointGetBody(j, 1);
1689 if(b1 == (dBodyID)ed->priv.server->ode_body)
1692 ed2->priv.server->ode_joint_enemy = 0;
1694 if(b2 == (dBodyID)ed->priv.server->ode_body)
1697 ed2->priv.server->ode_joint_aiment = 0;
1699 dJointAttach(j, b1, b2);
1701 dBodyDestroy((dBodyID)ed->priv.server->ode_body);
1703 ed->priv.server->ode_body = NULL;
1704 if (ed->priv.server->ode_vertex3f)
1705 Mem_Free(ed->priv.server->ode_vertex3f);
1706 ed->priv.server->ode_vertex3f = NULL;
1707 ed->priv.server->ode_numvertices = 0;
1708 if (ed->priv.server->ode_element3i)
1709 Mem_Free(ed->priv.server->ode_element3i);
1710 ed->priv.server->ode_element3i = NULL;
1711 ed->priv.server->ode_numtriangles = 0;
1712 if(ed->priv.server->ode_massbuf)
1713 Mem_Free(ed->priv.server->ode_massbuf);
1714 ed->priv.server->ode_massbuf = NULL;
1715 // clear functions stack
1716 for(f = ed->priv.server->ode_func; f; f = nf)
1721 ed->priv.server->ode_func = NULL;
1724 void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f)
1726 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1730 case ODEFUNC_ENABLE:
1733 case ODEFUNC_DISABLE:
1738 dBodyAddForceAtPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
1740 case ODEFUNC_TORQUE:
1742 dBodyAddTorque(body, f->v1[0], f->v1[1], f->v1[2]);
1749 static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
1751 prvm_prog_t *prog = world->prog;
1754 const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
1756 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1758 matrix4x4_t bodymatrix;
1759 matrix4x4_t entitymatrix;
1762 vec3_t forward, left, up;
1764 vec3_t spinvelocity;
1769 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1770 if (movetype != MOVETYPE_PHYSICS)
1772 jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
1775 // TODO feed back data from physics
1776 case JOINTTYPE_POINT:
1778 case JOINTTYPE_HINGE:
1780 case JOINTTYPE_SLIDER:
1782 case JOINTTYPE_UNIVERSAL:
1784 case JOINTTYPE_HINGE2:
1786 case JOINTTYPE_FIXED:
1791 // store the physics engine data into the entity
1792 o = dBodyGetPosition(body);
1793 r = dBodyGetRotation(body);
1794 vel = dBodyGetLinearVel(body);
1795 avel = dBodyGetAngularVel(body);
1796 VectorCopy(o, origin);
1806 VectorCopy(vel, velocity);
1807 VectorCopy(avel, spinvelocity);
1808 Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
1809 Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
1810 Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
1812 AnglesFromVectors(angles, forward, up, false);
1813 VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));
1816 float pitchsign = 1;
1817 if(prog == SVVM_prog) // FIXME some better way?
1819 pitchsign = SV_GetPitchSign(prog, ed);
1821 else if(prog == CLVM_prog)
1823 pitchsign = CL_GetPitchSign(prog, ed);
1825 angles[PITCH] *= pitchsign;
1826 avelocity[PITCH] *= pitchsign;
1829 VectorCopy(origin, PRVM_gameedictvector(ed, origin));
1830 VectorCopy(velocity, PRVM_gameedictvector(ed, velocity));
1831 //VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward));
1832 //VectorCopy(left, PRVM_gameedictvector(ed, axis_left));
1833 //VectorCopy(up, PRVM_gameedictvector(ed, axis_up));
1834 //VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity));
1835 VectorCopy(angles, PRVM_gameedictvector(ed, angles));
1836 VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity));
1838 // values for BodyFromEntity to check if the qc modified anything later
1839 VectorCopy(origin, ed->priv.server->ode_origin);
1840 VectorCopy(velocity, ed->priv.server->ode_velocity);
1841 VectorCopy(angles, ed->priv.server->ode_angles);
1842 VectorCopy(avelocity, ed->priv.server->ode_avelocity);
1843 ed->priv.server->ode_gravity = dBodyGetGravityMode(body) != 0;
1845 if(prog == SVVM_prog) // FIXME some better way?
1848 SV_LinkEdict_TouchAreaGrid(ed);
1852 static void World_Physics_Frame_ForceFromEntity(world_t *world, prvm_edict_t *ed)
1854 prvm_prog_t *prog = world->prog;
1855 int forcetype = 0, movetype = 0, enemy = 0;
1856 vec3_t movedir, origin;
1858 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1859 forcetype = (int)PRVM_gameedictfloat(ed, forcetype);
1860 if (movetype == MOVETYPE_PHYSICS)
1861 forcetype = FORCETYPE_NONE; // can't have both
1864 enemy = PRVM_gameedictedict(ed, enemy);
1865 if (enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].free || prog->edicts[enemy].priv.server->ode_body == 0)
1867 VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
1868 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
1869 dBodyEnable((dBodyID)prog->edicts[enemy].priv.server->ode_body);
1872 case FORCETYPE_FORCE:
1873 if (movedir[0] || movedir[1] || movedir[2])
1874 dBodyAddForce((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
1876 case FORCETYPE_FORCEATPOS:
1877 if (movedir[0] || movedir[1] || movedir[2])
1878 dBodyAddForceAtPos((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2], origin[0], origin[1], origin[2]);
1880 case FORCETYPE_TORQUE:
1881 if (movedir[0] || movedir[1] || movedir[2])
1882 dBodyAddTorque((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
1884 case FORCETYPE_NONE:
1891 static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
1893 prvm_prog_t *prog = world->prog;
1899 int enemy = 0, aiment = 0;
1900 vec3_t origin, velocity, angles, forward, left, up, movedir;
1901 vec_t CFM, ERP, FMax, Stop, Vel;
1903 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1904 jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
1905 VectorClear(origin);
1906 VectorClear(velocity);
1907 VectorClear(angles);
1908 VectorClear(movedir);
1909 enemy = PRVM_gameedictedict(ed, enemy);
1910 aiment = PRVM_gameedictedict(ed, aiment);
1911 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
1912 VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
1913 VectorCopy(PRVM_gameedictvector(ed, angles), angles);
1914 VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
1915 if(movetype == MOVETYPE_PHYSICS)
1916 jointtype = JOINTTYPE_NONE; // can't have both
1917 if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].free || prog->edicts[enemy].priv.server->ode_body == 0)
1919 if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].free || prog->edicts[aiment].priv.server->ode_body == 0)
1921 // see http://www.ode.org/old_list_archives/2006-January/017614.html
1922 // we want to set ERP? make it fps independent and work like a spring constant
1923 // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
1924 if(movedir[0] > 0 && movedir[1] > 0)
1926 float K = movedir[0];
1927 float D = movedir[1];
1928 float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
1929 CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0
1930 ERP = world->physics.ode_step * K * CFM;
1935 else if(movedir[1] < 0)
1940 FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
1941 Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
1943 else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
1951 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))
1952 return; // nothing to do
1953 AngleVectorsFLU(angles, forward, left, up);
1956 case JOINTTYPE_POINT:
1957 j = dJointCreateBall((dWorldID)world->physics.ode_world, 0);
1959 case JOINTTYPE_HINGE:
1960 j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0);
1962 case JOINTTYPE_SLIDER:
1963 j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0);
1965 case JOINTTYPE_UNIVERSAL:
1966 j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0);
1968 case JOINTTYPE_HINGE2:
1969 j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0);
1971 case JOINTTYPE_FIXED:
1972 j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
1974 case JOINTTYPE_NONE:
1980 if(ed->priv.server->ode_joint)
1982 //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
1983 dJointAttach((dJointID)ed->priv.server->ode_joint, 0, 0);
1984 dJointDestroy((dJointID)ed->priv.server->ode_joint);
1986 ed->priv.server->ode_joint = (void *) j;
1987 ed->priv.server->ode_joint_type = jointtype;
1988 ed->priv.server->ode_joint_enemy = enemy;
1989 ed->priv.server->ode_joint_aiment = aiment;
1990 VectorCopy(origin, ed->priv.server->ode_joint_origin);
1991 VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
1992 VectorCopy(angles, ed->priv.server->ode_joint_angles);
1993 VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
1996 //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
1997 dJointSetData(j, (void *) ed);
1999 b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
2001 b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
2002 dJointAttach(j, b1, b2);
2006 case JOINTTYPE_POINT:
2007 dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
2009 case JOINTTYPE_HINGE:
2010 dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
2011 dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
2012 dJointSetHingeParam(j, dParamFMax, FMax);
2013 dJointSetHingeParam(j, dParamHiStop, Stop);
2014 dJointSetHingeParam(j, dParamLoStop, -Stop);
2015 dJointSetHingeParam(j, dParamStopCFM, CFM);
2016 dJointSetHingeParam(j, dParamStopERP, ERP);
2017 dJointSetHingeParam(j, dParamVel, Vel);
2019 case JOINTTYPE_SLIDER:
2020 dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
2021 dJointSetSliderParam(j, dParamFMax, FMax);
2022 dJointSetSliderParam(j, dParamHiStop, Stop);
2023 dJointSetSliderParam(j, dParamLoStop, -Stop);
2024 dJointSetSliderParam(j, dParamStopCFM, CFM);
2025 dJointSetSliderParam(j, dParamStopERP, ERP);
2026 dJointSetSliderParam(j, dParamVel, Vel);
2028 case JOINTTYPE_UNIVERSAL:
2029 dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
2030 dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
2031 dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
2032 dJointSetUniversalParam(j, dParamFMax, FMax);
2033 dJointSetUniversalParam(j, dParamHiStop, Stop);
2034 dJointSetUniversalParam(j, dParamLoStop, -Stop);
2035 dJointSetUniversalParam(j, dParamStopCFM, CFM);
2036 dJointSetUniversalParam(j, dParamStopERP, ERP);
2037 dJointSetUniversalParam(j, dParamVel, Vel);
2038 dJointSetUniversalParam(j, dParamFMax2, FMax);
2039 dJointSetUniversalParam(j, dParamHiStop2, Stop);
2040 dJointSetUniversalParam(j, dParamLoStop2, -Stop);
2041 dJointSetUniversalParam(j, dParamStopCFM2, CFM);
2042 dJointSetUniversalParam(j, dParamStopERP2, ERP);
2043 dJointSetUniversalParam(j, dParamVel2, Vel);
2045 case JOINTTYPE_HINGE2:
2046 dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
2047 dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
2048 dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
2049 dJointSetHinge2Param(j, dParamFMax, FMax);
2050 dJointSetHinge2Param(j, dParamHiStop, Stop);
2051 dJointSetHinge2Param(j, dParamLoStop, -Stop);
2052 dJointSetHinge2Param(j, dParamStopCFM, CFM);
2053 dJointSetHinge2Param(j, dParamStopERP, ERP);
2054 dJointSetHinge2Param(j, dParamVel, Vel);
2055 dJointSetHinge2Param(j, dParamFMax2, FMax);
2056 dJointSetHinge2Param(j, dParamHiStop2, Stop);
2057 dJointSetHinge2Param(j, dParamLoStop2, -Stop);
2058 dJointSetHinge2Param(j, dParamStopCFM2, CFM);
2059 dJointSetHinge2Param(j, dParamStopERP2, ERP);
2060 dJointSetHinge2Param(j, dParamVel2, Vel);
2062 case JOINTTYPE_FIXED:
2066 Sys_Error("what? but above the joint was valid...\n");
2074 // test convex geometry data
2075 // planes for a cube, these should coincide with the
2076 dReal test_convex_planes[] =
2078 1.0f ,0.0f ,0.0f ,2.25f,
2079 0.0f ,1.0f ,0.0f ,2.25f,
2080 0.0f ,0.0f ,1.0f ,2.25f,
2081 -1.0f,0.0f ,0.0f ,2.25f,
2082 0.0f ,-1.0f,0.0f ,2.25f,
2083 0.0f ,0.0f ,-1.0f,2.25f
2085 const unsigned int test_convex_planecount = 6;
2086 // points for a cube
2087 dReal test_convex_points[] =
2089 2.25f,2.25f,2.25f, // point 0
2090 -2.25f,2.25f,2.25f, // point 1
2091 2.25f,-2.25f,2.25f, // point 2
2092 -2.25f,-2.25f,2.25f, // point 3
2093 2.25f,2.25f,-2.25f, // point 4
2094 -2.25f,2.25f,-2.25f, // point 5
2095 2.25f,-2.25f,-2.25f, // point 6
2096 -2.25f,-2.25f,-2.25f, // point 7
2098 const unsigned int test_convex_pointcount = 8;
2099 // polygons for a cube (6 squares), index
2100 unsigned int test_convex_polygons[] =
2102 4,0,2,6,4, // positive X
2103 4,1,0,4,5, // positive Y
2104 4,0,1,3,2, // positive Z
2105 4,3,1,5,7, // negative X
2106 4,2,3,7,6, // negative Y
2107 4,5,4,6,7, // negative Z
2110 static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
2112 prvm_prog_t *prog = world->prog;
2117 const dReal *ovelocity, *ospinvelocity;
2124 int movetype = MOVETYPE_NONE;
2127 int solid = SOLID_NOT, geomtype = 0;
2131 qbool modified = false;
2141 vec3_t spinvelocity;
2146 vec_t massval = 1.0f;
2153 qbool geom_modified = false;
2154 edict_odefunc_t *func, *nextf;
2156 dReal *planes, *planesData, *pointsData;
2157 unsigned int *polygons, *polygonsData, polyvert;
2158 qbool *mapped, *used, convex_compatible;
2159 int numplanes = 0, numpoints = 0, i;
2161 #ifndef LINK_TO_LIBODE
2165 VectorClear(entmins);
2166 VectorClear(entmaxs);
2168 solid = (int)PRVM_gameedictfloat(ed, solid);
2169 geomtype = (int)PRVM_gameedictfloat(ed, geomtype);
2170 movetype = (int)PRVM_gameedictfloat(ed, movetype);
2171 // support scale and q3map/radiant's modelscale_vec
2172 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)
2173 VectorCopy(PRVM_gameedictvector(ed, modelscale_vec), scale);
2174 else if (PRVM_gameedictfloat(ed, scale))
2175 VectorSet(scale, PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale));
2177 VectorSet(scale, 1.0f, 1.0f, 1.0f);
2179 if (PRVM_gameedictfloat(ed, mass))
2180 massval = PRVM_gameedictfloat(ed, mass);
2181 if (movetype != MOVETYPE_PHYSICS)
2183 mempool = prog->progs_mempool;
2187 // VorteX: keep support for deprecated solid fields to not break mods
2188 if (solid == SOLID_PHYSICS_TRIMESH || solid == SOLID_BSP)
2189 geomtype = GEOMTYPE_TRIMESH;
2190 else if (solid == SOLID_NOT || solid == SOLID_TRIGGER)
2191 geomtype = GEOMTYPE_NONE;
2192 else if (solid == SOLID_PHYSICS_SPHERE)
2193 geomtype = GEOMTYPE_SPHERE;
2194 else if (solid == SOLID_PHYSICS_CAPSULE)
2195 geomtype = GEOMTYPE_CAPSULE;
2196 else if (solid == SOLID_PHYSICS_CYLINDER)
2197 geomtype = GEOMTYPE_CYLINDER;
2198 else if (solid == SOLID_PHYSICS_BOX)
2199 geomtype = GEOMTYPE_BOX;
2201 geomtype = GEOMTYPE_BOX;
2203 if (geomtype == GEOMTYPE_TRIMESH)
2205 modelindex = (int)PRVM_gameedictfloat(ed, modelindex);
2206 if (world == &sv.world)
2207 model = SV_GetModelByIndex(modelindex);
2208 else if (world == &cl.world)
2209 model = CL_GetModelByIndex(modelindex);
2214 entmins[0] = model->normalmins[0] * scale[0];
2215 entmins[1] = model->normalmins[1] * scale[1];
2216 entmins[2] = model->normalmins[2] * scale[2];
2217 entmaxs[0] = model->normalmaxs[0] * scale[0];
2218 entmaxs[1] = model->normalmaxs[1] * scale[1];
2219 entmaxs[2] = model->normalmaxs[2] * scale[2];
2220 geom_modified = !VectorCompare(ed->priv.server->ode_scale, scale) || ed->priv.server->ode_modelindex != modelindex;
2224 Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
2225 geomtype = GEOMTYPE_BOX;
2226 VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
2227 VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
2229 geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
2232 else if (geomtype && geomtype != GEOMTYPE_NONE)
2234 VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
2235 VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
2236 geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
2240 // geometry type not set, falling back
2241 if (ed->priv.server->ode_physics)
2242 World_Physics_RemoveFromEntity(world, ed);
2246 VectorSubtract(entmaxs, entmins, geomsize);
2247 if (VectorLength2(geomsize) == 0)
2249 // we don't allow point-size physics objects...
2250 if (ed->priv.server->ode_physics)
2251 World_Physics_RemoveFromEntity(world, ed);
2256 ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction) ? PRVM_gameedictfloat(ed, friction) : 1.0f;
2258 // check if we need to create or replace the geom
2259 if (!ed->priv.server->ode_physics || ed->priv.server->ode_mass != massval || geom_modified)
2262 World_Physics_RemoveFromEntity(world, ed);
2263 ed->priv.server->ode_physics = true;
2264 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
2265 if (PRVM_gameedictvector(ed, massofs))
2266 VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs));
2269 if (geomsize[0] * geomsize[1] * geomsize[2] == 0)
2271 if (movetype == MOVETYPE_PHYSICS)
2272 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)));
2273 VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
2279 case GEOMTYPE_TRIMESH:
2280 // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
2281 if (!model->brush.collisionmesh)
2282 Mod_CreateCollisionMesh(model);
2283 if (!model->brush.collisionmesh)
2285 Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
2289 // check if trimesh can be defined with convex
2290 convex_compatible = false;
2291 for (i = model->submodelsurfaces_start;i < model->submodelsurfaces_end;i++)
2293 if (!strcmp(model->data_surfaces[i].texture->name, "collisionconvex"))
2295 convex_compatible = true;
2300 // ODE requires persistent mesh storage, so we need to copy out
2301 // the data from the model because renderer restarts could free it
2302 // during the game, additionally we need to flip the triangles...
2303 // note: ODE does preprocessing of the mesh for culling, removing
2304 // concave edges, etc., so this is not a lightweight operation
2305 ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
2306 ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
2308 // VorteX: rebuild geomsize based on entity's collision mesh, honor scale
2309 VectorSet(entmins, 0, 0, 0);
2310 VectorSet(entmaxs, 0, 0, 0);
2311 for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
2313 ov[0] = iv[0] * scale[0];
2314 ov[1] = iv[1] * scale[1];
2315 ov[2] = iv[2] * scale[2];
2316 entmins[0] = min(entmins[0], ov[0]);
2317 entmins[1] = min(entmins[1], ov[1]);
2318 entmins[2] = min(entmins[2], ov[2]);
2319 entmaxs[0] = max(entmaxs[0], ov[0]);
2320 entmaxs[1] = max(entmaxs[1], ov[1]);
2321 entmaxs[2] = max(entmaxs[2], ov[2]);
2323 if (!PRVM_gameedictvector(ed, massofs))
2324 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
2325 for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
2327 ov[0] = ov[0] - geomcenter[0];
2328 ov[1] = ov[1] - geomcenter[1];
2329 ov[2] = ov[2] - geomcenter[2];
2331 VectorSubtract(entmaxs, entmins, geomsize);
2332 if (VectorLength2(geomsize) == 0)
2334 if (movetype == MOVETYPE_PHYSICS)
2335 Con_Printf("entity %i collision mesh has null geomsize\n", PRVM_NUM_FOR_EDICT(ed));
2336 VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
2338 ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
2339 ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
2340 //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
2341 for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
2348 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2349 if (!convex_compatible || !physics_ode_allowconvex.integer)
2352 dataID = dGeomTriMeshDataCreate();
2353 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]));
2354 ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL);
2355 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2359 // VorteX: this code is unfinished in two ways
2360 // - no duplicate vertex merging are done
2361 // - triangles that shares same edge and havee sam plane are not merget into poly
2362 // so, currently it only works for geosphere meshes with no UV
2364 Con_Printf("Build convex hull for model %s...\n", model->name);
2365 // build convex geometry from trimesh data
2366 // this ensures that trimesh's triangles can form correct convex geometry
2367 // not many of error checking is performed
2368 // ODE's conve hull data consist of:
2369 // planes : an array of planes in the form: normal X, normal Y, normal Z, distance
2370 // points : an array of points X,Y,Z
2371 // polygons: an array of indices to the points of each polygon,it should be the number of vertices
2372 // followed by that amount of indices to "points" in counter clockwise order
2373 polygonsData = polygons = (unsigned int *)Mem_Alloc(mempool, numtriangles*sizeof(int)*4);
2374 planesData = planes = (dReal *)Mem_Alloc(mempool, numtriangles*sizeof(dReal)*4);
2375 mapped = (qbool *)Mem_Alloc(mempool, numvertices*sizeof(qbool));
2376 used = (qbool *)Mem_Alloc(mempool, numtriangles*sizeof(qbool));
2377 memset(mapped, 0, numvertices*sizeof(qbool));
2378 memset(used, 0, numtriangles*sizeof(qbool));
2379 numplanes = numpoints = polyvert = 0;
2380 // build convex hull
2381 // todo: merge duplicated verts here
2382 Con_Printf("Building...\n");
2383 iv = ed->priv.server->ode_vertex3f;
2384 for (triangleindex = 0; triangleindex < numtriangles; triangleindex++)
2386 // already formed a polygon?
2387 if (used[triangleindex])
2390 // switch clockwise->counterclockwise
2391 ie = &model->brush.collisionmesh->element3i[triangleindex*3];
2392 used[triangleindex] = true;
2393 TriangleNormal(&iv[ie[0]*3], &iv[ie[1]*3], &iv[ie[2]*3], planes);
2394 VectorNormalize(planes);
2396 polygons[3] = (unsigned int)ie[0]; mapped[polygons[3]] = true;
2397 polygons[2] = (unsigned int)ie[1]; mapped[polygons[2]] = true;
2398 polygons[1] = (unsigned int)ie[2]; mapped[polygons[1]] = true;
2400 // now find and include concave triangles
2401 for (i = triangleindex; i < numtriangles; i++)
2405 // should share at least 2 vertexes
2406 for (polyvert = 1; polyvert <= polygons[0]; polyvert++)
2408 // todo: merge in triangles that shares an edge and have same plane here
2412 // add polygon to overall stats
2413 planes[3] = DotProduct(&iv[polygons[1]*3], planes);
2414 polygons += (polygons[0]+1);
2420 for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
2421 if (mapped[vertexindex])
2423 pointsData = (dReal *)Mem_Alloc(mempool, numpoints*sizeof(dReal)*3 + numplanes*sizeof(dReal)*4); // planes is appended
2424 for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
2426 if (mapped[vertexindex])
2428 VectorCopy(&iv[vertexindex*3], &pointsData[numpoints*3]);
2433 Con_Printf("Points: \n");
2434 for (i = 0; i < (int)numpoints; i++)
2435 Con_Printf("%3i: %3.1f %3.1f %3.1f\n", i, pointsData[i*3], pointsData[i*3+1], pointsData[i*3+2]);
2437 planes = planesData;
2438 planesData = pointsData + numpoints*3;
2439 memcpy(planesData, planes, numplanes*sizeof(dReal)*4);
2441 Con_Printf("planes...\n");
2442 for (i = 0; i < numplanes; i++)
2443 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]);
2445 polyvert = polygons - polygonsData;
2446 polygons = polygonsData;
2447 polygonsData = (unsigned int *)Mem_Alloc(mempool, polyvert*sizeof(int));
2448 memcpy(polygonsData, polygons, polyvert*sizeof(int));
2450 Con_Printf("Polygons: \n");
2451 polygons = polygonsData;
2452 for (i = 0; i < numplanes; i++)
2454 Con_Printf("%3i : %i ", i, polygons[0]);
2455 for (triangleindex = 1; triangleindex <= (int)polygons[0]; triangleindex++)
2456 Con_Printf("%3i ", polygons[triangleindex]);
2457 polygons += (polygons[0]+1);
2460 Mem_Free(ed->priv.server->ode_element3i);
2461 ed->priv.server->ode_element3i = (int *)polygonsData;
2462 Mem_Free(ed->priv.server->ode_vertex3f);
2463 ed->priv.server->ode_vertex3f = (float *)pointsData;
2464 // check for properly build polygons by calculating the determinant of the 3x3 matrix composed of the first 3 points in the polygon
2465 // this code is picked from ODE Source
2466 Con_Printf("Check...\n");
2467 polygons = polygonsData;
2468 for (i = 0; i < numplanes; i++)
2470 if((pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+2] +
2471 pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+0] +
2472 pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+1] -
2473 pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+0] -
2474 pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+2] -
2475 pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+1]) < 0)
2476 Con_Printf(CON_WARN "WARNING: Polygon %d is not defined counterclockwise\n", i);
2477 if (planesData[(i*4)+3] < 0)
2478 Con_Printf(CON_WARN "WARNING: Plane %d does not contain the origin\n", i);
2479 polygons += (*polygons + 1);
2482 Con_Printf("Create geom...\n");
2483 ed->priv.server->ode_geom = (void *)dCreateConvex((dSpaceID)world->physics.ode_space, planesData, numplanes, pointsData, numpoints, polygonsData);
2484 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2485 Con_Printf("Done!\n");
2490 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2491 ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
2492 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2494 case GEOMTYPE_SPHERE:
2495 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2496 ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f);
2497 dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
2499 case GEOMTYPE_CAPSULE:
2501 if (geomsize[axisindex] < geomsize[1])
2503 if (geomsize[axisindex] < geomsize[2])
2505 // the qc gives us 3 axis radius, the longest axis is the capsule
2506 // axis, since ODE doesn't like this idea we have to create a
2507 // capsule which uses the standard orientation, and apply a
2511 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2512 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2514 else if (axisindex == 1)
2516 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2517 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2521 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2522 radius = min(geomsize[0], geomsize[1]) * 0.5f;
2524 length = geomsize[axisindex] - radius*2;
2525 // because we want to support more than one axisindex, we have to
2526 // create a transform, and turn on its cleanup setting (which will
2527 // cause the child to be destroyed when it is destroyed)
2528 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2529 dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
2531 case GEOMTYPE_CAPSULE_X:
2532 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2533 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2534 length = geomsize[0] - radius*2;
2535 // check if length is not enough, reduce radius then
2538 radius -= (1 - length)*0.5;
2541 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2542 dMassSetCapsuleTotal(&mass, massval, 1, radius, length);
2544 case GEOMTYPE_CAPSULE_Y:
2545 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2546 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2547 length = geomsize[1] - radius*2;
2548 // check if length is not enough, reduce radius then
2551 radius -= (1 - length)*0.5;
2554 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2555 dMassSetCapsuleTotal(&mass, massval, 2, radius, length);
2557 case GEOMTYPE_CAPSULE_Z:
2558 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2559 radius = min(geomsize[1], geomsize[0]) * 0.5f;
2560 length = geomsize[2] - radius*2;
2561 // check if length is not enough, reduce radius then
2564 radius -= (1 - length)*0.5;
2567 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2568 dMassSetCapsuleTotal(&mass, massval, 3, radius, length);
2570 case GEOMTYPE_CYLINDER:
2572 if (geomsize[axisindex] < geomsize[1])
2574 if (geomsize[axisindex] < geomsize[2])
2576 // the qc gives us 3 axis radius, the longest axis is the capsule
2577 // axis, since ODE doesn't like this idea we have to create a
2578 // capsule which uses the standard orientation, and apply a
2582 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2583 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2585 else if (axisindex == 1)
2587 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2588 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2592 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2593 radius = min(geomsize[0], geomsize[1]) * 0.5f;
2595 length = geomsize[axisindex];
2596 // check if length is not enough, reduce radius then
2599 radius -= (1 - length)*0.5;
2602 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2603 dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
2605 case GEOMTYPE_CYLINDER_X:
2606 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2607 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2608 length = geomsize[0];
2609 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2610 dMassSetCylinderTotal(&mass, massval, 1, radius, length);
2612 case GEOMTYPE_CYLINDER_Y:
2613 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2614 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2615 length = geomsize[1];
2616 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2617 dMassSetCylinderTotal(&mass, massval, 2, radius, length);
2619 case GEOMTYPE_CYLINDER_Z:
2620 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2621 radius = min(geomsize[0], geomsize[1]) * 0.5f;
2622 length = geomsize[2];
2623 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2624 dMassSetCylinderTotal(&mass, massval, 3, radius, length);
2627 Sys_Error("World_Physics_BodyFromEntity: unrecognized geomtype value %i was accepted by filter\n", solid);
2628 // this goto only exists to prevent warnings from the compiler
2629 // about uninitialized variables (mass), while allowing it to
2630 // catch legitimate uninitialized variable warnings
2633 ed->priv.server->ode_mass = massval;
2634 ed->priv.server->ode_modelindex = modelindex;
2635 VectorCopy(entmins, ed->priv.server->ode_mins);
2636 VectorCopy(entmaxs, ed->priv.server->ode_maxs);
2637 VectorCopy(scale, ed->priv.server->ode_scale);
2638 ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
2639 Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
2640 ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass));
2641 memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass));
2644 if (ed->priv.server->ode_geom)
2645 dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed);
2646 if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
2648 // entity is dynamic
2649 if (ed->priv.server->ode_body == NULL)
2651 ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world));
2652 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2653 dBodySetData(body, (void*)ed);
2654 dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
2660 // entity is deactivated
2661 if (ed->priv.server->ode_body != NULL)
2663 if(ed->priv.server->ode_geom)
2664 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
2665 dBodyDestroy((dBodyID) ed->priv.server->ode_body);
2666 ed->priv.server->ode_body = NULL;
2671 // get current data from entity
2672 VectorClear(origin);
2673 VectorClear(velocity);
2674 //VectorClear(forward);
2675 //VectorClear(left);
2677 //VectorClear(spinvelocity);
2678 VectorClear(angles);
2679 VectorClear(avelocity);
2681 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
2682 VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
2683 //VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward);
2684 //VectorCopy(PRVM_gameedictvector(ed, axis_left), left);
2685 //VectorCopy(PRVM_gameedictvector(ed, axis_up), up);
2686 //VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity);
2687 VectorCopy(PRVM_gameedictvector(ed, angles), angles);
2688 VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity);
2689 if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false;
2690 if (ed == prog->edicts)
2693 // compatibility for legacy entities
2694 //if (!VectorLength2(forward) || solid == SOLID_BSP)
2696 float pitchsign = 1;
2697 vec3_t qangles, qavelocity;
2698 VectorCopy(angles, qangles);
2699 VectorCopy(avelocity, qavelocity);
2701 if(prog == SVVM_prog) // FIXME some better way?
2703 pitchsign = SV_GetPitchSign(prog, ed);
2705 else if(prog == CLVM_prog)
2707 pitchsign = CL_GetPitchSign(prog, ed);
2709 qangles[PITCH] *= pitchsign;
2710 qavelocity[PITCH] *= pitchsign;
2712 AngleVectorsFLU(qangles, forward, left, up);
2713 // convert single-axis rotations in avelocity to spinvelocity
2714 // FIXME: untested math - check signs
2715 VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
2718 // compatibility for legacy entities
2722 case SOLID_SLIDEBOX:
2724 VectorSet(forward, 1, 0, 0);
2725 VectorSet(left, 0, 1, 0);
2726 VectorSet(up, 0, 0, 1);
2727 VectorSet(spinvelocity, 0, 0, 0);
2732 // we must prevent NANs...
2733 if (physics_ode_trick_fixnan.integer)
2735 test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
2739 //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]);
2740 if (physics_ode_trick_fixnan.integer >= 2)
2741 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]);
2742 test = VectorLength2(origin);
2744 VectorClear(origin);
2745 test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
2748 VectorSet(angles, 0, 0, 0);
2749 VectorSet(forward, 1, 0, 0);
2750 VectorSet(left, 0, 1, 0);
2751 VectorSet(up, 0, 0, 1);
2753 test = VectorLength2(velocity);
2755 VectorClear(velocity);
2756 test = VectorLength2(spinvelocity);
2759 VectorClear(avelocity);
2760 VectorClear(spinvelocity);
2765 // check if the qc edited any position data
2766 if (!VectorCompare(origin, ed->priv.server->ode_origin)
2767 || !VectorCompare(velocity, ed->priv.server->ode_velocity)
2768 || !VectorCompare(angles, ed->priv.server->ode_angles)
2769 || !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
2770 || gravity != ed->priv.server->ode_gravity)
2773 // store the qc values into the physics engine
2774 body = (dBodyID)ed->priv.server->ode_body;
2775 if (modified && ed->priv.server->ode_geom)
2778 matrix4x4_t entitymatrix;
2779 matrix4x4_t bodymatrix;
2782 Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
2783 if(!VectorCompare(origin, ed->priv.server->ode_origin))
2784 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]);
2785 if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
2786 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]);
2787 if(!VectorCompare(angles, ed->priv.server->ode_angles))
2788 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]);
2789 if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
2790 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]);
2791 if(gravity != ed->priv.server->ode_gravity)
2792 Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
2794 // values for BodyFromEntity to check if the qc modified anything later
2795 VectorCopy(origin, ed->priv.server->ode_origin);
2796 VectorCopy(velocity, ed->priv.server->ode_velocity);
2797 VectorCopy(angles, ed->priv.server->ode_angles);
2798 VectorCopy(avelocity, ed->priv.server->ode_avelocity);
2799 ed->priv.server->ode_gravity = gravity;
2801 Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
2802 Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
2803 Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
2804 r[0][0] = forward[0];
2805 r[1][0] = forward[1];
2806 r[2][0] = forward[2];
2815 if (movetype == MOVETYPE_PHYSICS)
2817 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2818 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2819 dBodySetRotation(body, r[0]);
2820 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2821 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2822 dBodySetGravityMode(body, gravity);
2826 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2827 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2828 dBodySetRotation(body, r[0]);
2829 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2830 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2831 dBodySetGravityMode(body, gravity);
2832 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
2837 // no body... then let's adjust the parameters of the geom directly
2838 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
2839 dGeomSetPosition((dGeomID)ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
2840 dGeomSetRotation((dGeomID)ed->priv.server->ode_geom, r[0]);
2847 // limit movement speed to prevent missed collisions at high speed
2848 ovelocity = dBodyGetLinearVel(body);
2849 ospinvelocity = dBodyGetAngularVel(body);
2850 movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
2851 test = VectorLength2(ovelocity);
2852 if (test > movelimit*movelimit)
2854 // scale down linear velocity to the movelimit
2855 // scale down angular velocity the same amount for consistency
2856 f = movelimit / sqrt(test);
2857 VectorScale(ovelocity, f, velocity);
2858 VectorScale(ospinvelocity, f, spinvelocity);
2859 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2860 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2863 // make sure the angular velocity is not exploding
2864 spinlimit = physics_ode_spinlimit.value;
2865 test = VectorLength2(ospinvelocity);
2866 if (test > spinlimit)
2868 dBodySetAngularVel(body, 0, 0, 0);
2871 // apply functions and clear stack
2872 for(func = ed->priv.server->ode_func; func; func = nextf)
2875 World_Physics_ApplyCmd(ed, func);
2878 ed->priv.server->ode_func = NULL;
2882 #define MAX_CONTACTS 32
2883 static void nearCallback (void *data, dGeomID o1, dGeomID o2)
2885 world_t *world = (world_t *)data;
2886 prvm_prog_t *prog = world->prog;
2887 dContact contact[MAX_CONTACTS]; // max contacts per collision pair
2888 int b1enabled = 0, b2enabled = 0;
2893 float bouncefactor1 = 0.0f;
2894 float bouncestop1 = 60.0f / 800.0f;
2895 float bouncefactor2 = 0.0f;
2896 float bouncestop2 = 60.0f / 800.0f;
2899 prvm_edict_t *ed1, *ed2;
2901 if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
2903 // colliding a space with something
2904 dSpaceCollide2(o1, o2, data, &nearCallback);
2905 // Note we do not want to test intersections within a space,
2906 // only between spaces.
2907 //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
2908 //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
2912 b1 = dGeomGetBody(o1);
2914 b1enabled = dBodyIsEnabled(b1);
2915 b2 = dGeomGetBody(o2);
2917 b2enabled = dBodyIsEnabled(b2);
2919 // at least one object has to be using MOVETYPE_PHYSICS and should be enabled or we just don't care
2920 if (!b1enabled && !b2enabled)
2923 // exit without doing anything if the two bodies are connected by a joint
2924 if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
2927 ed1 = (prvm_edict_t *) dGeomGetData(o1);
2928 if(ed1 && ed1->free)
2932 bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor);
2933 bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop);
2935 bouncestop1 = 60.0f / 800.0f;
2938 ed2 = (prvm_edict_t *) dGeomGetData(o2);
2939 if(ed2 && ed2->free)
2943 bouncefactor2 = PRVM_gameedictfloat(ed2, bouncefactor);
2944 bouncestop2 = PRVM_gameedictfloat(ed2, bouncestop);
2946 bouncestop2 = 60.0f / 800.0f;
2949 if(prog == SVVM_prog)
2951 if(ed1 && PRVM_serveredictfunction(ed1, touch))
2953 SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
2955 if(ed2 && PRVM_serveredictfunction(ed2, touch))
2957 SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
2961 // merge bounce factors and bounce stop
2962 if(bouncefactor2 > 0)
2964 if(bouncefactor1 > 0)
2966 // TODO possibly better logic to merge bounce factor data?
2967 if(bouncestop2 < bouncestop1)
2968 bouncestop1 = bouncestop2;
2969 if(bouncefactor2 > bouncefactor1)
2970 bouncefactor1 = bouncefactor2;
2974 bouncestop1 = bouncestop2;
2975 bouncefactor1 = bouncefactor2;
2978 dWorldGetGravity((dWorldID)world->physics.ode_world, grav);
2979 bouncestop1 *= fabs(grav[2]);
2982 // select object that moves faster ang get it's erp
2983 erp = (VectorLength2(PRVM_gameedictvector(ed1, velocity)) > VectorLength2(PRVM_gameedictvector(ed2, velocity))) ? PRVM_gameedictfloat(ed1, erp) : PRVM_gameedictfloat(ed2, erp);
2985 // get max contact points for this collision
2986 numcontacts = (int)PRVM_gameedictfloat(ed1, maxcontacts);
2988 numcontacts = physics_ode_contact_maxpoints.integer;
2989 if (PRVM_gameedictfloat(ed2, maxcontacts))
2990 numcontacts = max(numcontacts, (int)PRVM_gameedictfloat(ed2, maxcontacts));
2992 numcontacts = max(numcontacts, physics_ode_contact_maxpoints.integer);
2994 // generate contact points between the two non-space geoms
2995 numcontacts = dCollide(o1, o2, min(MAX_CONTACTS, numcontacts), &(contact[0].geom), sizeof(contact[0]));
2996 // add these contact points to the simulation
2997 for (i = 0;i < numcontacts;i++)
2999 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);
3000 contact[i].surface.mu = physics_ode_contact_mu.value * ed1->priv.server->ode_friction * ed2->priv.server->ode_friction;
3001 contact[i].surface.soft_erp = physics_ode_contact_erp.value + erp;
3002 contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
3003 contact[i].surface.bounce = bouncefactor1;
3004 contact[i].surface.bounce_vel = bouncestop1;
3005 c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i);
3006 dJointAttach(c, b1, b2);
3010 void World_Physics_Frame(world_t *world, double frametime, double gravity)
3012 prvm_prog_t *prog = world->prog;
3013 double tdelta, tdelta2, tdelta3, simulationtime, collisiontime;
3015 tdelta = Sys_DirtyTime();
3016 if (world->physics.ode && physics_ode.integer)
3021 if (!physics_ode_constantstep.value)
3023 world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
3024 world->physics.ode_step = frametime / world->physics.ode_iterations;
3028 world->physics.ode_time += frametime;
3030 if (physics_ode_constantstep.value > 0 && physics_ode_constantstep.value < 1)
3031 world->physics.ode_step = physics_ode_constantstep.value;
3033 world->physics.ode_step = sys_ticrate.value;
3034 if (world->physics.ode_time > 0.2f)
3035 world->physics.ode_time = world->physics.ode_step;
3036 // set number of iterations to process
3037 world->physics.ode_iterations = 0;
3038 while(world->physics.ode_time >= world->physics.ode_step)
3040 world->physics.ode_iterations++;
3041 world->physics.ode_time -= world->physics.ode_step;
3044 world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
3045 World_Physics_UpdateODE(world);
3047 // copy physics properties from entities to physics engine
3050 for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3051 if (!prog->edicts[i].free)
3052 World_Physics_Frame_BodyFromEntity(world, ed);
3053 // oh, and it must be called after all bodies were created
3054 for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3055 if (!prog->edicts[i].free)
3056 World_Physics_Frame_JointFromEntity(world, ed);
3059 tdelta2 = Sys_DirtyTime();
3061 for (i = 0;i < world->physics.ode_iterations;i++)
3064 dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value);
3065 // set the tolerance for closeness of objects
3066 dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
3067 // run collisions for the current world state, creating JointGroup
3068 tdelta3 = Sys_DirtyTime();
3069 dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
3070 collisiontime += (Sys_DirtyTime() - tdelta3)*10000;
3075 for (j = 0, ed = prog->edicts + j;j < prog->num_edicts;j++, ed++)
3076 if (!prog->edicts[j].free)
3077 World_Physics_Frame_ForceFromEntity(world, ed);
3079 // run physics (move objects, calculate new velocities)
3080 // be sure not to pass 0 as step time because that causes an ODE error
3081 dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200));
3082 if (world->physics.ode_step > 0)
3083 dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step);
3084 // clear the JointGroup now that we're done with it
3085 dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup);
3087 simulationtime = (Sys_DirtyTime() - tdelta2)*10000;
3089 // copy physics properties from physics engine to entities and do some stats
3092 for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3093 if (!prog->edicts[i].free)
3094 World_Physics_Frame_BodyToEntity(world, ed);
3097 if (physics_ode_printstats.integer)
3101 world->physics.ode_numobjects = 0;
3102 world->physics.ode_activeovjects = 0;
3103 for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3105 if (prog->edicts[i].free)
3107 body = (dBodyID)prog->edicts[i].priv.server->ode_body;
3110 world->physics.ode_numobjects++;
3111 if (dBodyIsEnabled(body))
3112 world->physics.ode_activeovjects++;
3114 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));