X-Git-Url: http://git.xonotic.org/?a=blobdiff_plain;f=world.c;h=3a6503d702b0015110ab5877d42bdef1ba3b1cc9;hb=02606e8045ed3c3df8d5e9337329d4915560766f;hp=b54dbc8113fbc15a2477320c89a25e6df9452104;hpb=4f14b92c32dffd6b4f045079a050831d887dce4c;p=xonotic%2Fdarkplaces.git diff --git a/world.c b/world.c index b54dbc81..3a6503d7 100644 --- a/world.c +++ b/world.c @@ -323,6 +323,9 @@ void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const #define USEODE 1 #endif +// recent ODE trunk has dWorldStepFast1 removed +//#define ODE_USE_STEPFAST + #ifdef USEODE cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"}; cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"}; @@ -338,6 +341,7 @@ cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear" cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.01", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"}; cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.005", "world angular damping scale (see ODE User Guide); use defaults when set to -1"}; cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.01", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"}; +cvar_t physics_ode_world_gravitymod = {0, "physics_ode_world_gravitymod", "1", "multiplies gravity got from sv_gravity, this may be needed to tweak if strong damping is used"}; cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"}; cvar_t physics_ode_constantstep = {0, "physics_ode_constantstep", "1", "use constant step (sys_ticrate value) instead of variable step which tends to increase stability"}; cvar_t physics_ode_autodisable = {0, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"}; @@ -584,7 +588,9 @@ void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num); //dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID); void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth); //dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID); +#ifdef ODE_USE_STEPFAST void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); +#endif //void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth); //int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID); //dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID); @@ -650,9 +656,9 @@ void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass); //void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz); //void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz); //void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz); -//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz); +void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz); //void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); -//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); +void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //const dReal * (ODE_API *dBodyGetForce)(dBodyID); @@ -674,8 +680,8 @@ dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index); //void (ODE_API *dBodySetDynamic)(dBodyID); //void (ODE_API *dBodySetKinematic)(dBodyID); //int (ODE_API *dBodyIsKinematic)(dBodyID); -//void (ODE_API *dBodyEnable)(dBodyID); -//void (ODE_API *dBodyDisable)(dBodyID); +void (ODE_API *dBodyEnable)(dBodyID); +void (ODE_API *dBodyDisable)(dBodyID); int (ODE_API *dBodyIsEnabled)(dBodyID); void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode); int (ODE_API *dBodyGetGravityMode)(dBodyID b); @@ -1049,7 +1055,9 @@ static dllfunction_t odefuncs[] = // {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel}, {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer}, // {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer}, +#ifdef ODE_USE_STEPFAST {"dWorldStepFast1", (void **) &dWorldStepFast1}, +#endif // {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1}, // {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1}, // {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold}, @@ -1115,9 +1123,9 @@ static dllfunction_t odefuncs[] = // {"dBodyAddForce", (void **) &dBodyAddForce}, // {"dBodyAddTorque", (void **) &dBodyAddTorque}, // {"dBodyAddRelForce", (void **) &dBodyAddRelForce}, -// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque}, + {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque}, // {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos}, -// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos}, + {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos}, // {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos}, // {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos}, // {"dBodyGetForce", (void **) &dBodyGetForce}, @@ -1139,8 +1147,8 @@ static dllfunction_t odefuncs[] = // {"dBodySetDynamic", (void **) &dBodySetDynamic}, // {"dBodySetKinematic", (void **) &dBodySetKinematic}, // {"dBodyIsKinematic", (void **) &dBodyIsKinematic}, -// {"dBodyEnable", (void **) &dBodyEnable}, -// {"dBodyDisable", (void **) &dBodyDisable}, + {"dBodyEnable", (void **) &dBodyEnable}, + {"dBodyDisable", (void **) &dBodyDisable}, {"dBodyIsEnabled", (void **) &dBodyIsEnabled}, {"dBodySetGravityMode", (void **) &dBodySetGravityMode}, {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode}, @@ -1488,6 +1496,7 @@ static void World_Physics_Init(void) Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold); Cvar_RegisterVariable(&physics_ode_world_damping_angular); Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold); + Cvar_RegisterVariable(&physics_ode_world_gravitymod); Cvar_RegisterVariable(&physics_ode_iterationsperframe); Cvar_RegisterVariable(&physics_ode_constantstep); Cvar_RegisterVariable(&physics_ode_movelimit); @@ -1646,6 +1655,8 @@ void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed) void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed) { + edict_odefunc_t *f, *nf; + // entity is not physics controlled, free any physics data ed->priv.server->ode_physics = false; #ifdef USEODE @@ -1690,6 +1701,40 @@ void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed) if(ed->priv.server->ode_massbuf) Mem_Free(ed->priv.server->ode_massbuf); ed->priv.server->ode_massbuf = NULL; + // clear functions stack + for(f = ed->priv.server->ode_func; f; f = nf) + { + nf = f->next; + Mem_Free(f); + } + ed->priv.server->ode_func = NULL; +} + +void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f) +{ + dBodyID body = (dBodyID)ed->priv.server->ode_body; + +#ifdef USEODE + switch(f->type) + { + case ODEFUNC_ENABLE: + dBodyEnable(body); + break; + case ODEFUNC_DISABLE: + dBodyDisable(body); + break; + case ODEFUNC_RELFORCEATPOS: + dBodyEnable(body); + dBodyAddForceAtRelPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]); + break; + case ODEFUNC_RELTORQUE: + dBodyEnable(body); + dBodyAddRelTorque(body, f->v1[0], f->v1[1], f->v1[2]); + break; + default: + break; + } +#endif } #ifdef USEODE @@ -1703,7 +1748,6 @@ static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed) int movetype; matrix4x4_t bodymatrix; matrix4x4_t entitymatrix; - prvm_eval_t *val; vec3_t angles; vec3_t avelocity; vec3_t forward, left, up; @@ -1713,11 +1757,10 @@ static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed) int jointtype; if (!body) return; - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype); - movetype = (int)val->_float; + movetype = (int)PRVM_gameedictfloat(ed, movetype); if (movetype != MOVETYPE_PHYSICS) { - jointtype = 0;val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float; + jointtype = (int)PRVM_gameedictfloat(ed, jointtype); switch(jointtype) { // TODO feed back data from physics @@ -1774,14 +1817,14 @@ static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed) avelocity[PITCH] *= pitchsign; } - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector); - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector); - //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); + VectorCopy(origin, PRVM_gameedictvector(ed, origin)); + VectorCopy(velocity, PRVM_gameedictvector(ed, velocity)); + //VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward)); + //VectorCopy(left, PRVM_gameedictvector(ed, axis_left)); + //VectorCopy(up, PRVM_gameedictvector(ed, axis_up)); + //VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity)); + VectorCopy(angles, PRVM_gameedictvector(ed, angles)); + VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity)); // values for BodyFromEntity to check if the qc modified anything later VectorCopy(origin, ed->priv.server->ode_origin); @@ -1807,19 +1850,18 @@ static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed int enemy = 0, aiment = 0; vec3_t origin, velocity, angles, forward, left, up, movedir; vec_t CFM, ERP, FMax, Stop, Vel; - prvm_eval_t *val; VectorClear(origin); VectorClear(velocity); VectorClear(angles); VectorClear(movedir); - 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); + movetype = (int)PRVM_gameedictfloat(ed, movetype); + jointtype = (int)PRVM_gameedictfloat(ed, jointtype); + enemy = PRVM_gameedictedict(ed, enemy); + aiment = PRVM_gameedictedict(ed, aiment); + VectorCopy(PRVM_gameedictvector(ed, origin), origin); + VectorCopy(PRVM_gameedictvector(ed, velocity), velocity); + VectorCopy(PRVM_gameedictvector(ed, angles), angles); + VectorCopy(PRVM_gameedictvector(ed, movedir), 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) @@ -1986,6 +2028,7 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) dBodyID body = (dBodyID)ed->priv.server->ode_body; dMass mass; dReal test; + const dReal *ovelocity, *ospinvelocity; void *dataID; dVector3 capsulerot[3]; dp_model_t *model; @@ -2000,7 +2043,6 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) int triangleindex; int vertexindex; mempool_t *mempool; - prvm_eval_t *val; qboolean modified = false; vec3_t angles; vec3_t avelocity; @@ -2022,15 +2064,17 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) vec_t scale = 1.0f; vec_t spinlimit; qboolean gravity; + edict_odefunc_t *func, *nextf; + #ifdef ODE_DYNAMIC if (!ode_dll) return; #endif VectorClear(entmins); VectorClear(entmaxs); - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);if (val) solid = (int)val->_float; - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float; - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.scale);if (val && val->_float) scale = val->_float; + solid = (int)PRVM_gameedictfloat(ed, solid); + movetype = (int)PRVM_gameedictfloat(ed, movetype); + scale = PRVM_gameedictfloat(ed, scale);if (!scale) scale = 1.0f; modelindex = 0; if (world == &sv.world) mempool = sv_mempool; @@ -2042,9 +2086,8 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) switch(solid) { case SOLID_BSP: - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex); - if (val) - modelindex = (int)val->_float; + case SOLID_PHYSICS_TRIMESH: + modelindex = (int)PRVM_gameedictfloat(ed, modelindex); if (world == &sv.world) model = SV_GetModelByIndex(modelindex); else if (world == &cl.world) @@ -2055,7 +2098,7 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) { VectorScale(model->normalmins, scale, entmins); VectorScale(model->normalmaxs, scale, entmaxs); - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float; + massval = PRVM_gameedictfloat(ed, mass); } else { @@ -2069,9 +2112,9 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) case SOLID_PHYSICS_BOX: case SOLID_PHYSICS_SPHERE: case SOLID_PHYSICS_CAPSULE: - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mins);if (val) VectorCopy(val->vector, entmins); - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.maxs);if (val) VectorCopy(val->vector, entmaxs); - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float; + VectorCopy(PRVM_gameedictvector(ed, mins), entmins); + VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs); + massval = PRVM_gameedictfloat(ed, mass); break; default: if (ed->priv.server->ode_physics) @@ -2111,7 +2154,7 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0) { if (movetype == MOVETYPE_PHYSICS) - Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string)); + Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname))); massval = 1.0f; VectorSet(geomsize, 1.0f, 1.0f, 1.0f); } @@ -2119,10 +2162,11 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) switch(solid) { case SOLID_BSP: + case SOLID_PHYSICS_TRIMESH: ed->priv.server->ode_offsetmatrix = identitymatrix; if (!model) { - Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string)); + Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname))); goto treatasbox; } // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces @@ -2130,7 +2174,7 @@ static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) Mod_CreateCollisionMesh(model); if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles) { - Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string)); + Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname))); goto treatasbox; } // ODE requires persistent mesh storage, so we need to copy out @@ -2248,16 +2292,16 @@ treatasbox: VectorClear(angles); VectorClear(avelocity); gravity = true; - 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.axis_forward);if (val) VectorCopy(val->vector, forward); - //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left); - //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up); - //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity); - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles); - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(val->vector, avelocity); - val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.gravity);if (val) { if(val->_float != 0.0f && val->_float < 0.5f) gravity = false; } - if(ed == prog->edicts) + VectorCopy(PRVM_gameedictvector(ed, origin), origin); + VectorCopy(PRVM_gameedictvector(ed, velocity), velocity); + //VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward); + //VectorCopy(PRVM_gameedictvector(ed, axis_left), left); + //VectorCopy(PRVM_gameedictvector(ed, axis_up), up); + //VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity); + VectorCopy(PRVM_gameedictvector(ed, angles), angles); + VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity); + if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false; + if (ed == prog->edicts) gravity = false; // compatibility for legacy entities @@ -2306,9 +2350,9 @@ treatasbox: if (IS_NAN(test)) { modified = true; - //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_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), 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]); + //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]); if (physics_ode_trick_fixnan.integer >= 2) - 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(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]); + 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(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]); test = VectorLength2(origin); if (IS_NAN(test)) VectorClear(origin); @@ -2414,9 +2458,10 @@ treatasbox: if(body) { + // limit movement speed to prevent missed collisions at high speed - const dReal *ovelocity = dBodyGetLinearVel(body); - const dReal *ospinvelocity = dBodyGetAngularVel(body); + ovelocity = dBodyGetLinearVel(body); + ospinvelocity = dBodyGetAngularVel(body); movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit; test = VectorLength2(ovelocity); if (test > movelimit*movelimit) @@ -2437,6 +2482,15 @@ treatasbox: { dBodySetAngularVel(body, 0, 0, 0); } + + // apply functions and clear stack + for(func = ed->priv.server->ode_func; func; func = nextf) + { + nextf = func->next; + World_Physics_ApplyCmd(ed, func); + Mem_Free(func); + } + ed->priv.server->ode_func = NULL; } } @@ -2450,7 +2504,6 @@ static void nearCallback (void *data, dGeomID o1, dGeomID o2) dJointID c; int i; int numcontacts; - prvm_eval_t *val; float bouncefactor1 = 0.0f; float bouncestop1 = 60.0f / 800.0f; float bouncefactor2 = 0.0f; @@ -2485,13 +2538,10 @@ static void nearCallback (void *data, dGeomID o1, dGeomID o2) ed1 = NULL; if(ed1) { - val = PRVM_EDICTFIELDVALUE(ed1, prog->fieldoffsets.bouncefactor); - if (val!=0 && val->_float) - bouncefactor1 = val->_float; - - val = PRVM_EDICTFIELDVALUE(ed1, prog->fieldoffsets.bouncestop); - if (val!=0 && val->_float) - bouncestop1 = val->_float; + bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor); + bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop); + if (!bouncestop1) + bouncestop1 = 60.0f / 800.0f; } ed2 = (prvm_edict_t *) dGeomGetData(o2); @@ -2499,22 +2549,19 @@ static void nearCallback (void *data, dGeomID o1, dGeomID o2) ed2 = NULL; if(ed2) { - val = PRVM_EDICTFIELDVALUE(ed2, prog->fieldoffsets.bouncefactor); - if (val!=0 && val->_float) - bouncefactor2 = val->_float; - - val = PRVM_EDICTFIELDVALUE(ed2, prog->fieldoffsets.bouncestop); - if (val!=0 && val->_float) - bouncestop2 = val->_float; + bouncefactor2 = PRVM_gameedictfloat(ed2, bouncefactor); + bouncestop2 = PRVM_gameedictfloat(ed2, bouncestop); + if (!bouncestop2) + bouncestop2 = 60.0f / 800.0f; } if(!strcmp(prog->name, "server")) { - if(ed1 && ed1->fields.server->touch) + if(ed1 && PRVM_serveredictfunction(ed1, touch)) { SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts); } - if(ed2 && ed2->fields.server->touch) + if(ed2 && PRVM_serveredictfunction(ed2, touch)) { SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts); } @@ -2593,7 +2640,7 @@ void World_Physics_Frame(world_t *world, double frametime, double gravity) for (i = 0;i < world->physics.ode_iterations;i++) { // set the gravity - dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity); + dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value); // set the tolerance for closeness of objects dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value)); @@ -2608,8 +2655,10 @@ void World_Physics_Frame(world_t *world, double frametime, double gravity) dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200)); dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step); } +#ifdef ODE_USE_STEPFAST else if (physics_ode_worldstep.integer == 1) dWorldStepFast1((dWorldID)world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstep_iterations.integer, 200)); +#endif else dWorldStep((dWorldID)world->physics.ode_world, world->physics.ode_step);