+ //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector);
+ //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector);
+ //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector);
+ //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(angles, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(avelocity, val->vector);
+
+ // values for BodyFromEntity to check if the qc modified anything later
+ VectorCopy(origin, ed->priv.server->ode_origin);
+ VectorCopy(velocity, ed->priv.server->ode_velocity);
+ VectorCopy(angles, ed->priv.server->ode_angles);
+ VectorCopy(avelocity, ed->priv.server->ode_avelocity);
+ ed->priv.server->ode_gravity = dBodyGetGravityMode(body);
+}
+
+static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
+{
+ dJointID j = 0;
+ dBodyID b1 = 0;
+ dBodyID b2 = 0;
+ int movetype = 0;
+ int jointtype = 0;
+ int enemy = 0, aiment = 0;
+ vec3_t origin, velocity, angles, forward, left, up, movedir;
+ prvm_eval_t *val;
+ VectorClear(origin);
+ VectorClear(velocity);
+ VectorClear(angles);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.enemy);if (val) enemy = val->_int;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.aiment);if (val) aiment = val->_int;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movedir);if (val) VectorCopy(val->vector, movedir);
+ if(movetype == MOVETYPE_PHYSICS)
+ jointtype = 0; // can't have both
+ if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
+ enemy = 0;
+ if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
+ aiment = 0;
+ // see http://www.ode.org/old_list_archives/2006-January/017614.html
+ if(movedir[0] > 0)
+ // we want to set ERP? make it fps independent and work like a spring constant
+ // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
+ {
+ float K = movedir[0];
+ float D = movedir[2];
+ float H = (!strcmp(prog->name, "server") ? sv.frametime : cl.mtime[0] - cl.mtime[1]) / world->physics.ode_iterations;
+ float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
+ float ERP = (H * K) / (H * K + R);
+ float CFM = 1.0 / (H * K + R);
+ movedir[0] = CFM;
+ movedir[2] = ERP;
+ }
+ if(jointtype == ed->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment && VectorCompare(movedir, ed->priv.server->ode_joint_movedir))
+ return; // nothing to do
+ AngleVectorsFLU(angles, forward, left, up);
+ switch(jointtype)
+ {
+ case JOINTTYPE_POINT:
+ j = dJointCreateBall(world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_HINGE:
+ j = dJointCreateHinge(world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_SLIDER:
+ j = dJointCreateSlider(world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_UNIVERSAL:
+ j = dJointCreateUniversal(world->physics.ode_world, 0);
+ break;
+ case JOINTTYPE_HINGE2:
+ j = dJointCreateHinge2(world->physics.ode_world, 0);
+ break;
+ case 0:
+ default:
+ // no joint
+ j = 0;
+ break;
+ }
+ ed->priv.server->ode_joint = (void *) j;
+ ed->priv.server->ode_joint_type = jointtype;
+ ed->priv.server->ode_joint_enemy = enemy;
+ ed->priv.server->ode_joint_aiment = aiment;
+ VectorCopy(origin, ed->priv.server->ode_joint_origin);
+ VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
+ VectorCopy(angles, ed->priv.server->ode_joint_angles);
+ if(j)
+ {
+ dJointSetData(j, (void *) ed);
+ if(enemy)
+ b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
+ if(aiment)
+ b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
+ dJointAttach(j, b1, b2);
+#define SETPARAMS(t,id) \
+ if(movedir[0] > 0) \
+ dJointSet##t##Param(j, dParamCFM##id, movedir[0]); \
+ else if(movedir[0] < 0) \
+ dJointSet##t##Param(j, dParamCFM##id, 0); \
+ if(movedir[1] > 0) \
+ { \
+ dJointSet##t##Param(j, dParamLoStop##id, 0); \
+ dJointSet##t##Param(j, dParamHiStop##id, 0); \
+ } \
+ dJointSet##t##Param(j, dParamFMax##id, movedir[1]); \
+ if(movedir[2] > 0) \
+ dJointSet##t##Param(j, dParamStopERP##id, movedir[2]); \
+ else if(movedir[2] < 0) \
+ dJointSet##t##Param(j, dParamStopERP##id, 0)
+ switch(jointtype)
+ {
+ case JOINTTYPE_POINT:
+ dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
+ break;
+ case JOINTTYPE_HINGE:
+ dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
+ dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
+ SETPARAMS(Hinge,);
+ break;
+ case JOINTTYPE_SLIDER:
+ dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
+ SETPARAMS(Slider,);
+ break;
+ case JOINTTYPE_UNIVERSAL:
+ dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
+ dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
+ dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
+ SETPARAMS(Universal,);
+ SETPARAMS(Universal,2);
+ break;
+ case JOINTTYPE_HINGE2:
+ dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
+ dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
+ dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
+ SETPARAMS(Hinge2,);
+ SETPARAMS(Hinge2,2);
+ break;
+ case 0:
+ default:
+ Host_Error("what? but above the joint was valid...\n");
+ break;
+ }
+ }