world.c

   1 /*
   2 Copyright (C) 1996-1997 Id Software, Inc.
   3
   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.
   8
   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.
  12
  13 See the GNU General Public License for more details.
  14
  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.
  18
  19 */
  20 // world.c -- world query functions
  21
  22 #include "quakedef.h"
  23
  24 /*
  25
  26 entities never clip against themselves, or their owner
  27
  28 line of sight checks trace->inopen and trace->inwater, but bullets don't
  29
  30 */
  31
  32 static void World_Physics_Init(void);
  33 void World_Init(void)
  34 {
  35         Collision_Init();
  36         World_Physics_Init();
  37 }
  38
  39 static void World_Physics_Shutdown(void);
  40 void World_Shutdown(void)
  41 {
  42         World_Physics_Shutdown();
  43 }
  44
  45 static void World_Physics_Start(world_t *world);
  46 void World_Start(world_t *world)
  47 {
  48         World_Physics_Start(world);
  49 }
  50
  51 static void World_Physics_End(world_t *world);
  52 void World_End(world_t *world)
  53 {
  54         World_Physics_End(world);
  55 }
  56
  57 //============================================================================
  58
  59 /// World_ClearLink is used for new headnodes
  60 void World_ClearLink (link_t *l)
  61 {
  62         l->entitynumber = 0;
  63         l->prev = l->next = l;
  64 }
  65
  66 void World_RemoveLink (link_t *l)
  67 {
  68         l->next->prev = l->prev;
  69         l->prev->next = l->next;
  70 }
  71
  72 void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
  73 {
  74         l->entitynumber = entitynumber;
  75         l->next = before;
  76         l->prev = before->prev;
  77         l->prev->next = l;
  78         l->next->prev = l;
  79 }
  80
  81 /*
  82 ===============================================================================
  83
  84 ENTITY AREA CHECKING
  85
  86 ===============================================================================
  87 */
  88
  89 void World_PrintAreaStats(world_t *world, const char *worldname)
  90 {
  91         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);
  92         world->areagrid_stats_calls = 0;
  93         world->areagrid_stats_nodechecks = 0;
  94         world->areagrid_stats_entitychecks = 0;
  95 }
  96
  97 /*
  98 ===============
  99 World_SetSize
 100
 101 ===============
 102 */
 103 void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs)
 104 {
 105         int i;
 106
 107         strlcpy(world->filename, filename, sizeof(world->filename));
 108         VectorCopy(mins, world->mins);
 109         VectorCopy(maxs, world->maxs);
 110
 111         // the areagrid_marknumber is not allowed to be 0
 112         if (world->areagrid_marknumber < 1)
 113                 world->areagrid_marknumber = 1;
 114         // choose either the world box size, or a larger box to ensure the grid isn't too fine
 115         world->areagrid_size[0] = max(world->areagrid_maxs[0] - world->areagrid_mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
 116         world->areagrid_size[1] = max(world->areagrid_maxs[1] - world->areagrid_mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
 117         world->areagrid_size[2] = max(world->areagrid_maxs[2] - world->areagrid_mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
 118         // figure out the corners of such a box, centered at the center of the world box
 119         world->areagrid_mins[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] - world->areagrid_size[0]) * 0.5f;
 120         world->areagrid_mins[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] - world->areagrid_size[1]) * 0.5f;
 121         world->areagrid_mins[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] - world->areagrid_size[2]) * 0.5f;
 122         world->areagrid_maxs[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] + world->areagrid_size[0]) * 0.5f;
 123         world->areagrid_maxs[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] + world->areagrid_size[1]) * 0.5f;
 124         world->areagrid_maxs[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] + world->areagrid_size[2]) * 0.5f;
 125         // now calculate the actual useful info from that
 126         VectorNegate(world->areagrid_mins, world->areagrid_bias);
 127         world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
 128         world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
 129         world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
 130         World_ClearLink(&world->areagrid_outside);
 131         for (i = 0;i < AREA_GRIDNODES;i++)
 132                 World_ClearLink(&world->areagrid[i]);
 133         if (developer.integer >= 10)
 134                 Con_Printf("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);
 135 }
 136
 137 /*
 138 ===============
 139 World_UnlinkAll
 140
 141 ===============
 142 */
 143 void World_UnlinkAll(world_t *world)
 144 {
 145         int i;
 146         link_t *grid;
 147         // unlink all entities one by one
 148         grid = &world->areagrid_outside;
 149         while (grid->next != grid)
 150                 World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
 151         for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
 152                 while (grid->next != grid)
 153                         World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
 154 }
 155
 156 /*
 157 ===============
 158
 159 ===============
 160 */
 161 void World_UnlinkEdict(prvm_edict_t *ent)
 162 {
 163         int i;
 164         for (i = 0;i < ENTITYGRIDAREAS;i++)
 165         {
 166                 if (ent->priv.server->areagrid[i].prev)
 167                 {
 168                         World_RemoveLink (&ent->priv.server->areagrid[i]);
 169                         ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL;
 170                 }
 171         }
 172 }
 173
 174 int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, prvm_edict_t **list)
 175 {
 176         int numlist;
 177         link_t *grid;
 178         link_t *l;
 179         prvm_edict_t *ent;
 180         int igrid[3], igridmins[3], igridmaxs[3];
 181
 182         // FIXME: if areagrid_marknumber wraps, all entities need their
 183         // ent->priv.server->areagridmarknumber reset
 184         world->areagrid_stats_calls++;
 185         world->areagrid_marknumber++;
 186         igridmins[0] = (int) floor((mins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
 187         igridmins[1] = (int) floor((mins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
 188         //igridmins[2] = (int) ((mins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
 189         igridmaxs[0] = (int) floor((maxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
 190         igridmaxs[1] = (int) floor((maxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
 191         //igridmaxs[2] = (int) ((maxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
 192         igridmins[0] = max(0, igridmins[0]);
 193         igridmins[1] = max(0, igridmins[1]);
 194         //igridmins[2] = max(0, igridmins[2]);
 195         igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
 196         igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
 197         //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
 198
 199         numlist = 0;
 200         // add entities not linked into areagrid because they are too big or
 201         // outside the grid bounds
 202         if (world->areagrid_outside.next != &world->areagrid_outside)
 203         {
 204                 grid = &world->areagrid_outside;
 205                 for (l = grid->next;l != grid;l = l->next)
 206                 {
 207                         ent = PRVM_EDICT_NUM(l->entitynumber);
 208                         if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
 209                         {
 210                                 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
 211                                 if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
 212                                 {
 213                                         if (numlist < maxlist)
 214                                                 list[numlist] = ent;
 215                                         numlist++;
 216                                 }
 217                                 world->areagrid_stats_entitychecks++;
 218                         }
 219                 }
 220         }
 221         // add grid linked entities
 222         for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
 223         {
 224                 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
 225                 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
 226                 {
 227                         if (grid->next != grid)
 228                         {
 229                                 for (l = grid->next;l != grid;l = l->next)
 230                                 {
 231                                         ent = PRVM_EDICT_NUM(l->entitynumber);
 232                                         if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
 233                                         {
 234                                                 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
 235                                                 if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
 236                                                 {
 237                                                         if (numlist < maxlist)
 238                                                                 list[numlist] = ent;
 239                                                         numlist++;
 240                                                 }
 241                                                 //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]);
 242                                         }
 243                                         world->areagrid_stats_entitychecks++;
 244                                 }
 245                         }
 246                 }
 247         }
 248         return numlist;
 249 }
 250
 251 void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
 252 {
 253         link_t *grid;
 254         int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
 255
 256         if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
 257         {
 258                 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);
 259                 return;
 260         }
 261
 262         igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
 263         igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
 264         //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
 265         igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
 266         igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
 267         //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
 268         if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
 269         {
 270                 // wow, something outside the grid, store it as such
 271                 World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
 272                 return;
 273         }
 274
 275         gridnum = 0;
 276         for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
 277         {
 278                 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
 279                 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
 280                         World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
 281         }
 282 }
 283
 284 /*
 285 ===============
 286 World_LinkEdict
 287
 288 ===============
 289 */
 290 void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
 291 {
 292         // unlink from old position first
 293         if (ent->priv.server->areagrid[0].prev)
 294                 World_UnlinkEdict(ent);
 295
 296         // don't add the world
 297         if (ent == prog->edicts)
 298                 return;
 299
 300         // don't add free entities
 301         if (ent->priv.server->free)
 302                 return;
 303
 304         VectorCopy(mins, ent->priv.server->areamins);
 305         VectorCopy(maxs, ent->priv.server->areamaxs);
 306         World_LinkEdict_AreaGrid(world, ent);
 307 }
 308
 309
 310
 311
 312 //============================================================================
 313 // physics engine support
 314 //============================================================================
 315
 316 #ifndef ODE_STATIC
 317 #define ODE_DYNAMIC 1
 318 #endif
 319
 320 #if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
 321 #define USEODE 1
 322 #endif
 323
 324 #ifdef USEODE
 325 cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
 326 cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"};
 327 cvar_t physics_ode_worldquickstep = {0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStepFast1 or dWorldStep"};
 328 cvar_t physics_ode_worldquickstep_iterations = {0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"};
 329 cvar_t physics_ode_worldstepfast = {0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"};
 330 cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"};
 331 cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
 332 cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
 333 cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
 334 cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
 335 cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"};
 336 cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
 337
 338 // LordHavoc: this large chunk of definitions comes from the ODE library
 339 // include files.
 340
 341 #ifdef ODE_STATIC
 342 #include "ode/ode.h"
 343 #else
 344 #ifdef WINAPI
 345 // ODE does not use WINAPI
 346 #define ODE_API
 347 #else
 348 #define ODE_API
 349 #endif
 350
 351 // note: dynamic builds of ODE tend to be double precision, this is not used
 352 // for static builds
 353 typedef double dReal;
 354
 355 typedef dReal dVector3[4];
 356 typedef dReal dVector4[4];
 357 typedef dReal dMatrix3[4*3];
 358 typedef dReal dMatrix4[4*4];
 359 typedef dReal dMatrix6[8*6];
 360 typedef dReal dQuaternion[4];
 361
 362 struct dxWorld;         /* dynamics world */
 363 struct dxSpace;         /* collision space */
 364 struct dxBody;          /* rigid body (dynamics object) */
 365 struct dxGeom;          /* geometry (collision object) */
 366 struct dxJoint;
 367 struct dxJointNode;
 368 struct dxJointGroup;
 369 struct dxTriMeshData;
 370
 371 typedef struct dxWorld *dWorldID;
 372 typedef struct dxSpace *dSpaceID;
 373 typedef struct dxBody *dBodyID;
 374 typedef struct dxGeom *dGeomID;
 375 typedef struct dxJoint *dJointID;
 376 typedef struct dxJointGroup *dJointGroupID;
 377 typedef struct dxTriMeshData *dTriMeshDataID;
 378
 379 typedef struct dJointFeedback
 380 {
 381         dVector3 f1;            /* force applied to body 1 */
 382         dVector3 t1;            /* torque applied to body 1 */
 383         dVector3 f2;            /* force applied to body 2 */
 384         dVector3 t2;            /* torque applied to body 2 */
 385 }
 386 dJointFeedback;
 387
 388 typedef enum dJointType
 389 {
 390         dJointTypeNone = 0,
 391         dJointTypeBall,
 392         dJointTypeHinge,
 393         dJointTypeSlider,
 394         dJointTypeContact,
 395         dJointTypeUniversal,
 396         dJointTypeHinge2,
 397         dJointTypeFixed,
 398         dJointTypeNull,
 399         dJointTypeAMotor,
 400         dJointTypeLMotor,
 401         dJointTypePlane2D,
 402         dJointTypePR,
 403         dJointTypePU,
 404         dJointTypePiston
 405 }
 406 dJointType;
 407
 408 typedef struct dMass
 409 {
 410         dReal mass;
 411         dVector3 c;
 412         dMatrix3 I;
 413 }
 414 dMass;
 415
 416 enum
 417 {
 418         dContactMu2                     = 0x001,
 419         dContactFDir1           = 0x002,
 420         dContactBounce          = 0x004,
 421         dContactSoftERP         = 0x008,
 422         dContactSoftCFM         = 0x010,
 423         dContactMotion1         = 0x020,
 424         dContactMotion2         = 0x040,
 425         dContactMotionN         = 0x080,
 426         dContactSlip1           = 0x100,
 427         dContactSlip2           = 0x200,
 428
 429         dContactApprox0         = 0x0000,
 430         dContactApprox1_1       = 0x1000,
 431         dContactApprox1_2       = 0x2000,
 432         dContactApprox1         = 0x3000
 433 };
 434
 435 typedef struct dSurfaceParameters
 436 {
 437         /* must always be defined */
 438         int mode;
 439         dReal mu;
 440
 441         /* only defined if the corresponding flag is set in mode */
 442         dReal mu2;
 443         dReal bounce;
 444         dReal bounce_vel;
 445         dReal soft_erp;
 446         dReal soft_cfm;
 447         dReal motion1,motion2,motionN;
 448         dReal slip1,slip2;
 449 } dSurfaceParameters;
 450
 451 typedef struct dContactGeom
 452 {
 453         dVector3 pos;          ///< contact position
 454         dVector3 normal;       ///< normal vector
 455         dReal depth;           ///< penetration depth
 456         dGeomID g1,g2;         ///< the colliding geoms
 457         int side1,side2;       ///< (to be documented)
 458 }
 459 dContactGeom;
 460
 461 typedef struct dContact
 462 {
 463         dSurfaceParameters surface;
 464         dContactGeom geom;
 465         dVector3 fdir1;
 466 }
 467 dContact;
 468
 469 typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
 470
 471 // SAP
 472 // Order XZY or ZXY usually works best, if your Y is up.
 473 #define dSAP_AXES_XYZ  ((0)|(1<<2)|(2<<4))
 474 #define dSAP_AXES_XZY  ((0)|(2<<2)|(1<<4))
 475 #define dSAP_AXES_YXZ  ((1)|(0<<2)|(2<<4))
 476 #define dSAP_AXES_YZX  ((1)|(2<<2)|(0<<4))
 477 #define dSAP_AXES_ZXY  ((2)|(0<<2)|(1<<4))
 478 #define dSAP_AXES_ZYX  ((2)|(1<<2)|(0<<4))
 479
 480 //const char*     (ODE_API *dGetConfiguration)(void);
 481 //int             (ODE_API *dCheckConfiguration)( const char* token );
 482 int             (ODE_API *dInitODE)(void);
 483 //int             (ODE_API *dInitODE2)(unsigned int uiInitFlags);
 484 //int             (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
 485 //void            (ODE_API *dCleanupODEAllDataForThread)(void);
 486 void            (ODE_API *dCloseODE)(void);
 487
 488 //int             (ODE_API *dMassCheck)(const dMass *m);
 489 //void            (ODE_API *dMassSetZero)(dMass *);
 490 //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);
 491 //void            (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
 492 void            (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
 493 //void            (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
 494 void            (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
 495 //void            (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
 496 //void            (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
 497 //void            (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
 498 void            (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
 499 //void            (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
 500 //void            (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
 501 //void            (ODE_API *dMassAdjust)(dMass *, dReal newmass);
 502 //void            (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
 503 //void            (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
 504 //void            (ODE_API *dMassAdd)(dMass *a, const dMass *b);
 505 //
 506 dWorldID        (ODE_API *dWorldCreate)(void);
 507 void            (ODE_API *dWorldDestroy)(dWorldID world);
 508 void            (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
 509 void            (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
 510 //void            (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
 511 //dReal           (ODE_API *dWorldGetERP)(dWorldID);
 512 //void            (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
 513 //dReal           (ODE_API *dWorldGetCFM)(dWorldID);
 514 void            (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
 515 //void            (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
 516 void            (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
 517 void            (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
 518 //int             (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
 519 //void            (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
 520 //dReal           (ODE_API *dWorldGetQuickStepW)(dWorldID);
 521 //void            (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
 522 //dReal           (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
 523 void            (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
 524 //dReal           (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
 525 void            (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
 526 //void            (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
 527 //int             (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
 528 //dReal           (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
 529 //void            (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
 530 //dReal           (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
 531 //void            (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
 532 //dReal           (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
 533 //void            (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
 534 //dReal           (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
 535 //void            (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
 536 //int             (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
 537 //void            (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
 538 //int             (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
 539 //void            (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
 540 //dReal           (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
 541 //void            (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
 542 //int             (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
 543 //void            (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
 544 //dReal           (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
 545 //void            (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
 546 //dReal           (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
 547 //void            (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
 548 //dReal           (ODE_API *dWorldGetLinearDamping)(dWorldID w);
 549 //void            (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
 550 //dReal           (ODE_API *dWorldGetAngularDamping)(dWorldID w);
 551 //void            (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
 552 //void            (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
 553 //dReal           (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
 554 //void            (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
 555 //dReal           (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
 556 //void            (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
 557 //dReal           (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
 558 //void            (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
 559 //int             (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
 560 //void            (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
 561 //int             (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
 562 //void            (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
 563 //dReal           (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
 564 //void            (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
 565 //int             (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
 566 //void            (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
 567 //void            (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
 568 //dWorldID        (ODE_API *dBodyGetWorld)(dBodyID);
 569 dBodyID         (ODE_API *dBodyCreate)(dWorldID);
 570 void            (ODE_API *dBodyDestroy)(dBodyID);
 571 void            (ODE_API *dBodySetData)(dBodyID, void *data);
 572 void *          (ODE_API *dBodyGetData)(dBodyID);
 573 void            (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
 574 void            (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
 575 //void            (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
 576 void            (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
 577 void            (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
 578 const dReal *   (ODE_API *dBodyGetPosition)(dBodyID);
 579 //void            (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
 580 const dReal *   (ODE_API *dBodyGetRotation)(dBodyID);
 581 //void            (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
 582 //const dReal *   (ODE_API *dBodyGetQuaternion)(dBodyID);
 583 //void            (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
 584 const dReal *   (ODE_API *dBodyGetLinearVel)(dBodyID);
 585 const dReal *   (ODE_API *dBodyGetAngularVel)(dBodyID);
 586 void            (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
 587 //void            (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
 588 //void            (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
 589 //void            (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
 590 //void            (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
 591 //void            (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
 592 //void            (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
 593 //void            (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
 594 //void            (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
 595 //void            (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
 596 //const dReal *   (ODE_API *dBodyGetForce)(dBodyID);
 597 //const dReal *   (ODE_API *dBodyGetTorque)(dBodyID);
 598 //void            (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
 599 //void            (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
 600 //void            (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 601 //void            (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 602 //void            (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 603 //void            (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 604 //void            (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 605 //void            (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 606 //void            (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
 607 //void            (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
 608 //int             (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
 609 //void            (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
 610 //int             (ODE_API *dBodyGetNumJoints)(dBodyID b);
 611 //dJointID        (ODE_API *dBodyGetJoint)(dBodyID, int index);
 612 //void            (ODE_API *dBodySetDynamic)(dBodyID);
 613 //void            (ODE_API *dBodySetKinematic)(dBodyID);
 614 //int             (ODE_API *dBodyIsKinematic)(dBodyID);
 615 //void            (ODE_API *dBodyEnable)(dBodyID);
 616 //void            (ODE_API *dBodyDisable)(dBodyID);
 617 //int             (ODE_API *dBodyIsEnabled)(dBodyID);
 618 void            (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
 619 int             (ODE_API *dBodyGetGravityMode)(dBodyID b);
 620 //void            (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
 621 //dGeomID         (ODE_API *dBodyGetFirstGeom)(dBodyID b);
 622 //dGeomID         (ODE_API *dBodyGetNextGeom)(dGeomID g);
 623 //void            (ODE_API *dBodySetDampingDefaults)(dBodyID b);
 624 //dReal           (ODE_API *dBodyGetLinearDamping)(dBodyID b);
 625 //void            (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
 626 //dReal           (ODE_API *dBodyGetAngularDamping)(dBodyID b);
 627 //void            (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
 628 //void            (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
 629 //dReal           (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
 630 //void            (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
 631 //dReal           (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
 632 //void            (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
 633 //dReal           (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
 634 //void            (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
 635 //int             (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
 636 //void            (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
 637 //dJointID        (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
 638 //dJointID        (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
 639 //dJointID        (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
 640 dJointID        (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
 641 //dJointID        (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
 642 //dJointID        (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
 643 //dJointID        (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
 644 //dJointID        (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
 645 //dJointID        (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
 646 //dJointID        (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
 647 //dJointID        (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
 648 //dJointID        (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
 649 //dJointID        (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
 650 //dJointID        (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
 651 //void            (ODE_API *dJointDestroy)(dJointID);
 652 dJointGroupID   (ODE_API *dJointGroupCreate)(int max_size);
 653 void            (ODE_API *dJointGroupDestroy)(dJointGroupID);
 654 void            (ODE_API *dJointGroupEmpty)(dJointGroupID);
 655 //int             (ODE_API *dJointGetNumBodies)(dJointID);
 656 void            (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
 657 //void            (ODE_API *dJointEnable)(dJointID);
 658 //void            (ODE_API *dJointDisable)(dJointID);
 659 //int             (ODE_API *dJointIsEnabled)(dJointID);
 660 //void            (ODE_API *dJointSetData)(dJointID, void *data);
 661 //void *          (ODE_API *dJointGetData)(dJointID);
 662 //dJointType      (ODE_API *dJointGetType)(dJointID);
 663 //dBodyID         (ODE_API *dJointGetBody)(dJointID, int index);
 664 //void            (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
 665 //dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
 666 //void            (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
 667 //void            (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
 668 //void            (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
 669 //void            (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
 670 //void            (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
 671 //void            (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
 672 //void            (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
 673 //void            (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
 674 //void            (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
 675 //void            (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
 676 //void            (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
 677 //void            (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
 678 //void            (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
 679 //void            (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
 680 //void            (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
 681 //void            (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
 682 //void            (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
 683 //void            (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
 684 //void            (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
 685 //void            (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
 686 //void            (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
 687 //void            (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
 688 //void            (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
 689 //void            (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
 690 //void            (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
 691 //void            (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
 692 //void            (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
 693 //void            (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
 694 //void            (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
 695 //void            (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
 696 //void            (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
 697 //void            (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
 698 //void            (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
 699 //void            (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
 700 //void            (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
 701 //void            (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
 702 //void            (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
 703 //void            (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
 704 //void            (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
 705 //void            (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
 706 //void            (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
 707 //void            (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
 708 //void            (ODE_API *dJointSetFixed)(dJointID);
 709 //void            (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
 710 //void            (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
 711 //void            (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
 712 //void            (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
 713 //void            (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
 714 //void            (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
 715 //void            (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
 716 //void            (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
 717 //void            (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
 718 //void            (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
 719 //void            (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
 720 //void            (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
 721 //void            (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
 722 //void            (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
 723 //void            (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
 724 //dReal           (ODE_API *dJointGetBallParam)(dJointID, int parameter);
 725 //void            (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
 726 //void            (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
 727 //void            (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
 728 //dReal           (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
 729 //dReal           (ODE_API *dJointGetHingeAngle)(dJointID);
 730 //dReal           (ODE_API *dJointGetHingeAngleRate)(dJointID);
 731 //dReal           (ODE_API *dJointGetSliderPosition)(dJointID);
 732 //dReal           (ODE_API *dJointGetSliderPositionRate)(dJointID);
 733 //void            (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
 734 //dReal           (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
 735 //void            (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
 736 //void            (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
 737 //void            (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
 738 //void            (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
 739 //dReal           (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
 740 //dReal           (ODE_API *dJointGetHinge2Angle1)(dJointID);
 741 //dReal           (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
 742 //dReal           (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
 743 //void            (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
 744 //void            (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
 745 //void            (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
 746 //void            (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
 747 //dReal           (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
 748 //void            (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
 749 //dReal           (ODE_API *dJointGetUniversalAngle1)(dJointID);
 750 //dReal           (ODE_API *dJointGetUniversalAngle2)(dJointID);
 751 //dReal           (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
 752 //dReal           (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
 753 //void            (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
 754 //dReal           (ODE_API *dJointGetPRPosition)(dJointID);
 755 //dReal           (ODE_API *dJointGetPRPositionRate)(dJointID);
 756 //dReal           (ODE_API *dJointGetPRAngle)(dJointID);
 757 //dReal           (ODE_API *dJointGetPRAngleRate)(dJointID);
 758 //void            (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
 759 //void            (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
 760 //dReal           (ODE_API *dJointGetPRParam)(dJointID, int parameter);
 761 //void            (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
 762 //dReal           (ODE_API *dJointGetPUPosition)(dJointID);
 763 //dReal           (ODE_API *dJointGetPUPositionRate)(dJointID);
 764 //void            (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
 765 //void            (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
 766 //void            (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
 767 //void            (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
 768 //void            (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
 769 //dReal           (ODE_API *dJointGetPUAngle1)(dJointID);
 770 //dReal           (ODE_API *dJointGetPUAngle1Rate)(dJointID);
 771 //dReal           (ODE_API *dJointGetPUAngle2)(dJointID);
 772 //dReal           (ODE_API *dJointGetPUAngle2Rate)(dJointID);
 773 //dReal           (ODE_API *dJointGetPUParam)(dJointID, int parameter);
 774 //dReal           (ODE_API *dJointGetPistonPosition)(dJointID);
 775 //dReal           (ODE_API *dJointGetPistonPositionRate)(dJointID);
 776 //dReal           (ODE_API *dJointGetPistonAngle)(dJointID);
 777 //dReal           (ODE_API *dJointGetPistonAngleRate)(dJointID);
 778 //void            (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
 779 //void            (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
 780 //void            (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
 781 //dReal           (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
 782 //int             (ODE_API *dJointGetAMotorNumAxes)(dJointID);
 783 //void            (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
 784 //int             (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
 785 //dReal           (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
 786 //dReal           (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
 787 //dReal           (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
 788 //int             (ODE_API *dJointGetAMotorMode)(dJointID);
 789 //int             (ODE_API *dJointGetLMotorNumAxes)(dJointID);
 790 //void            (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
 791 //dReal           (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
 792 //dReal           (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
 793 //dJointID        (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
 794 //int             (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
 795 int             (ODE_API *dAreConnected)(dBodyID, dBodyID);
 796 int             (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
 797 //
 798 dSpaceID        (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
 799 dSpaceID        (ODE_API *dHashSpaceCreate)(dSpaceID space);
 800 dSpaceID        (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
 801 //dSpaceID        (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
 802 void            (ODE_API *dSpaceDestroy)(dSpaceID);
 803 //void            (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
 804 //void            (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
 805 //void            (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
 806 //int             (ODE_API *dSpaceGetCleanup)(dSpaceID space);
 807 //void            (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
 808 //int             (ODE_API *dSpaceGetSublevel)(dSpaceID space);
 809 //void            (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
 810 //int             (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
 811 //void            (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
 812 //void            (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
 813 //int             (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
 814 //void            (ODE_API *dSpaceClean)(dSpaceID);
 815 //int             (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
 816 //dGeomID         (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
 817 //int             (ODE_API *dSpaceGetClass)(dSpaceID space);
 818 //
 819 void            (ODE_API *dGeomDestroy)(dGeomID geom);
 820 //void            (ODE_API *dGeomSetData)(dGeomID geom, void* data);
 821 //void *          (ODE_API *dGeomGetData)(dGeomID geom);
 822 void            (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
 823 dBodyID         (ODE_API *dGeomGetBody)(dGeomID geom);
 824 //void            (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
 825 void            (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
 826 //void            (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
 827 //const dReal *   (ODE_API *dGeomGetPosition)(dGeomID geom);
 828 //void            (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
 829 //const dReal *   (ODE_API *dGeomGetRotation)(dGeomID geom);
 830 //void            (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
 831 //void            (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
 832 //void            (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
 833 int             (ODE_API *dGeomIsSpace)(dGeomID geom);
 834 //dSpaceID        (ODE_API *dGeomGetSpace)(dGeomID);
 835 //int             (ODE_API *dGeomGetClass)(dGeomID geom);
 836 //void            (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
 837 //void            (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
 838 //unsigned long   (ODE_API *dGeomGetCategoryBits)(dGeomID);
 839 //unsigned long   (ODE_API *dGeomGetCollideBits)(dGeomID);
 840 //void            (ODE_API *dGeomEnable)(dGeomID geom);
 841 //void            (ODE_API *dGeomDisable)(dGeomID geom);
 842 //int             (ODE_API *dGeomIsEnabled)(dGeomID geom);
 843 //void            (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
 844 //void            (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
 845 //void            (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
 846 //void            (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
 847 //void            (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
 848 //void            (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
 849 //void            (ODE_API *dGeomClearOffset)(dGeomID geom);
 850 //int             (ODE_API *dGeomIsOffset)(dGeomID geom);
 851 //const dReal *   (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
 852 //void            (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
 853 //const dReal *   (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
 854 //void            (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
 855 //void            (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
 856 int             (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
 857 //
 858 void            (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
 859 void            (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
 860 //
 861 dGeomID         (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
 862 //void            (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
 863 //dReal           (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
 864 //dReal           (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
 865 //
 866 //dGeomID         (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
 867 //void            (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
 868 //
 869 dGeomID         (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
 870 //void            (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
 871 //void            (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
 872 //dReal           (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
 873 //dReal           (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
 874 //
 875 //dGeomID         (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
 876 //void            (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
 877 //void            (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
 878 //dReal           (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
 879 //
 880 dGeomID         (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
 881 //void            (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
 882 //void            (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
 883 //dReal           (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
 884 //
 885 //dGeomID         (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
 886 //void            (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
 887 //void            (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
 888 //
 889 //dGeomID         (ODE_API *dCreateRay)(dSpaceID space, dReal length);
 890 //void            (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
 891 //dReal           (ODE_API *dGeomRayGetLength)(dGeomID ray);
 892 //void            (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
 893 //void            (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
 894 //
 895 dGeomID         (ODE_API *dCreateGeomTransform)(dSpaceID space);
 896 void            (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
 897 //dGeomID         (ODE_API *dGeomTransformGetGeom)(dGeomID g);
 898 void            (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
 899 //int             (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
 900 //void            (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
 901 //int             (ODE_API *dGeomTransformGetInfo)(dGeomID g);
 902
 903 enum { TRIMESH_FACE_NORMALS };
 904 typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
 905 typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
 906 typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
 907 typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
 908
 909 dTriMeshDataID  (ODE_API *dGeomTriMeshDataCreate)(void);
 910 void            (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
 911 //void            (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
 912 //void*           (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
 913 //void            (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
 914 //dReal*          (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
 915 void            (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
 916 //void            (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
 917 //void            (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
 918 //void            (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
 919 //void            (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
 920 //void            (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
 921 //void            (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
 922 //void            (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
 923 //void            (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
 924 //void            (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
 925 //dTriCallback*   (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
 926 //void            (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
 927 //dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
 928 //void            (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
 929 //dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
 930 //void            (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
 931 //dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
 932 dGeomID         (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
 933 //void            (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
 934 //dTriMeshDataID  (ODE_API *dGeomTriMeshGetData)(dGeomID g);
 935 //void            (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
 936 //int             (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
 937 //void            (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
 938 //dTriMeshDataID  (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
 939 //void            (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
 940 //void            (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
 941 //int             (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
 942 //void            (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
 943
 944 static dllfunction_t odefuncs[] =
 945 {
 946 //      {"dGetConfiguration",                                                   (void **) &dGetConfiguration},
 947 //      {"dCheckConfiguration",                                                 (void **) &dCheckConfiguration},
 948         {"dInitODE",                                                                    (void **) &dInitODE},
 949 //      {"dInitODE2",                                                                   (void **) &dInitODE2},
 950 //      {"dAllocateODEDataForThread",                                   (void **) &dAllocateODEDataForThread},
 951 //      {"dCleanupODEAllDataForThread",                                 (void **) &dCleanupODEAllDataForThread},
 952         {"dCloseODE",                                                                   (void **) &dCloseODE},
 953 //      {"dMassCheck",                                                                  (void **) &dMassCheck},
 954 //      {"dMassSetZero",                                                                (void **) &dMassSetZero},
 955 //      {"dMassSetParameters",                                                  (void **) &dMassSetParameters},
 956 //      {"dMassSetSphere",                                                              (void **) &dMassSetSphere},
 957         {"dMassSetSphereTotal",                                                 (void **) &dMassSetSphereTotal},
 958 //      {"dMassSetCapsule",                                                             (void **) &dMassSetCapsule},
 959         {"dMassSetCapsuleTotal",                                                (void **) &dMassSetCapsuleTotal},
 960 //      {"dMassSetCylinder",                                                    (void **) &dMassSetCylinder},
 961 //      {"dMassSetCylinderTotal",                                               (void **) &dMassSetCylinderTotal},
 962 //      {"dMassSetBox",                                                                 (void **) &dMassSetBox},
 963         {"dMassSetBoxTotal",                                                    (void **) &dMassSetBoxTotal},
 964 //      {"dMassSetTrimesh",                                                             (void **) &dMassSetTrimesh},
 965 //      {"dMassSetTrimeshTotal",                                                (void **) &dMassSetTrimeshTotal},
 966 //      {"dMassAdjust",                                                                 (void **) &dMassAdjust},
 967 //      {"dMassTranslate",                                                              (void **) &dMassTranslate},
 968 //      {"dMassRotate",                                                                 (void **) &dMassRotate},
 969 //      {"dMassAdd",                                                                    (void **) &dMassAdd},
 970
 971         {"dWorldCreate",                                                                (void **) &dWorldCreate},
 972         {"dWorldDestroy",                                                               (void **) &dWorldDestroy},
 973         {"dWorldSetGravity",                                                    (void **) &dWorldSetGravity},
 974         {"dWorldGetGravity",                                                    (void **) &dWorldGetGravity},
 975 //      {"dWorldSetERP",                                                                (void **) &dWorldSetERP},
 976 //      {"dWorldGetERP",                                                                (void **) &dWorldGetERP},
 977 //      {"dWorldSetCFM",                                                                (void **) &dWorldSetCFM},
 978 //      {"dWorldGetCFM",                                                                (void **) &dWorldGetCFM},
 979         {"dWorldStep",                                                                  (void **) &dWorldStep},
 980 //      {"dWorldImpulseToForce",                                                (void **) &dWorldImpulseToForce},
 981         {"dWorldQuickStep",                                                             (void **) &dWorldQuickStep},
 982         {"dWorldSetQuickStepNumIterations",                             (void **) &dWorldSetQuickStepNumIterations},
 983 //      {"dWorldGetQuickStepNumIterations",                             (void **) &dWorldGetQuickStepNumIterations},
 984 //      {"dWorldSetQuickStepW",                                                 (void **) &dWorldSetQuickStepW},
 985 //      {"dWorldGetQuickStepW",                                                 (void **) &dWorldGetQuickStepW},
 986 //      {"dWorldSetContactMaxCorrectingVel",                    (void **) &dWorldSetContactMaxCorrectingVel},
 987 //      {"dWorldGetContactMaxCorrectingVel",                    (void **) &dWorldGetContactMaxCorrectingVel},
 988         {"dWorldSetContactSurfaceLayer",                                (void **) &dWorldSetContactSurfaceLayer},
 989 //      {"dWorldGetContactSurfaceLayer",                                (void **) &dWorldGetContactSurfaceLayer},
 990         {"dWorldStepFast1",                                                             (void **) &dWorldStepFast1},
 991 //      {"dWorldSetAutoEnableDepthSF1",                                 (void **) &dWorldSetAutoEnableDepthSF1},
 992 //      {"dWorldGetAutoEnableDepthSF1",                                 (void **) &dWorldGetAutoEnableDepthSF1},
 993 //      {"dWorldGetAutoDisableLinearThreshold",                 (void **) &dWorldGetAutoDisableLinearThreshold},
 994 //      {"dWorldSetAutoDisableLinearThreshold",                 (void **) &dWorldSetAutoDisableLinearThreshold},
 995 //      {"dWorldGetAutoDisableAngularThreshold",                (void **) &dWorldGetAutoDisableAngularThreshold},
 996 //      {"dWorldSetAutoDisableAngularThreshold",                (void **) &dWorldSetAutoDisableAngularThreshold},
 997 //      {"dWorldGetAutoDisableLinearAverageThreshold",  (void **) &dWorldGetAutoDisableLinearAverageThreshold},
 998 //      {"dWorldSetAutoDisableLinearAverageThreshold",  (void **) &dWorldSetAutoDisableLinearAverageThreshold},
 999 //      {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
1000 //      {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
1001 //      {"dWorldGetAutoDisableAverageSamplesCount",             (void **) &dWorldGetAutoDisableAverageSamplesCount},
1002 //      {"dWorldSetAutoDisableAverageSamplesCount",             (void **) &dWorldSetAutoDisableAverageSamplesCount},
1003 //      {"dWorldGetAutoDisableSteps",                                   (void **) &dWorldGetAutoDisableSteps},
1004 //      {"dWorldSetAutoDisableSteps",                                   (void **) &dWorldSetAutoDisableSteps},
1005 //      {"dWorldGetAutoDisableTime",                                    (void **) &dWorldGetAutoDisableTime},
1006 //      {"dWorldSetAutoDisableTime",                                    (void **) &dWorldSetAutoDisableTime},
1007 //      {"dWorldGetAutoDisableFlag",                                    (void **) &dWorldGetAutoDisableFlag},
1008 //      {"dWorldSetAutoDisableFlag",                                    (void **) &dWorldSetAutoDisableFlag},
1009 //      {"dWorldGetLinearDampingThreshold",                             (void **) &dWorldGetLinearDampingThreshold},
1010 //      {"dWorldSetLinearDampingThreshold",                             (void **) &dWorldSetLinearDampingThreshold},
1011 //      {"dWorldGetAngularDampingThreshold",                    (void **) &dWorldGetAngularDampingThreshold},
1012 //      {"dWorldSetAngularDampingThreshold",                    (void **) &dWorldSetAngularDampingThreshold},
1013 //      {"dWorldGetLinearDamping",                                              (void **) &dWorldGetLinearDamping},
1014 //      {"dWorldSetLinearDamping",                                              (void **) &dWorldSetLinearDamping},
1015 //      {"dWorldGetAngularDamping",                                             (void **) &dWorldGetAngularDamping},
1016 //      {"dWorldSetAngularDamping",                                             (void **) &dWorldSetAngularDamping},
1017 //      {"dWorldSetDamping",                                                    (void **) &dWorldSetDamping},
1018 //      {"dWorldGetMaxAngularSpeed",                                    (void **) &dWorldGetMaxAngularSpeed},
1019 //      {"dWorldSetMaxAngularSpeed",                                    (void **) &dWorldSetMaxAngularSpeed},
1020 //      {"dBodyGetAutoDisableLinearThreshold",                  (void **) &dBodyGetAutoDisableLinearThreshold},
1021 //      {"dBodySetAutoDisableLinearThreshold",                  (void **) &dBodySetAutoDisableLinearThreshold},
1022 //      {"dBodyGetAutoDisableAngularThreshold",                 (void **) &dBodyGetAutoDisableAngularThreshold},
1023 //      {"dBodySetAutoDisableAngularThreshold",                 (void **) &dBodySetAutoDisableAngularThreshold},
1024 //      {"dBodyGetAutoDisableAverageSamplesCount",              (void **) &dBodyGetAutoDisableAverageSamplesCount},
1025 //      {"dBodySetAutoDisableAverageSamplesCount",              (void **) &dBodySetAutoDisableAverageSamplesCount},
1026 //      {"dBodyGetAutoDisableSteps",                                    (void **) &dBodyGetAutoDisableSteps},
1027 //      {"dBodySetAutoDisableSteps",                                    (void **) &dBodySetAutoDisableSteps},
1028 //      {"dBodyGetAutoDisableTime",                                             (void **) &dBodyGetAutoDisableTime},
1029 //      {"dBodySetAutoDisableTime",                                             (void **) &dBodySetAutoDisableTime},
1030 //      {"dBodyGetAutoDisableFlag",                                             (void **) &dBodyGetAutoDisableFlag},
1031 //      {"dBodySetAutoDisableFlag",                                             (void **) &dBodySetAutoDisableFlag},
1032 //      {"dBodySetAutoDisableDefaults",                                 (void **) &dBodySetAutoDisableDefaults},
1033 //      {"dBodyGetWorld",                                                               (void **) &dBodyGetWorld},
1034         {"dBodyCreate",                                                                 (void **) &dBodyCreate},
1035         {"dBodyDestroy",                                                                (void **) &dBodyDestroy},
1036         {"dBodySetData",                                                                (void **) &dBodySetData},
1037         {"dBodyGetData",                                                                (void **) &dBodyGetData},
1038         {"dBodySetPosition",                                                    (void **) &dBodySetPosition},
1039         {"dBodySetRotation",                                                    (void **) &dBodySetRotation},
1040 //      {"dBodySetQuaternion",                                                  (void **) &dBodySetQuaternion},
1041         {"dBodySetLinearVel",                                                   (void **) &dBodySetLinearVel},
1042         {"dBodySetAngularVel",                                                  (void **) &dBodySetAngularVel},
1043         {"dBodyGetPosition",                                                    (void **) &dBodyGetPosition},
1044 //      {"dBodyCopyPosition",                                                   (void **) &dBodyCopyPosition},
1045         {"dBodyGetRotation",                                                    (void **) &dBodyGetRotation},
1046 //      {"dBodyCopyRotation",                                                   (void **) &dBodyCopyRotation},
1047 //      {"dBodyGetQuaternion",                                                  (void **) &dBodyGetQuaternion},
1048 //      {"dBodyCopyQuaternion",                                                 (void **) &dBodyCopyQuaternion},
1049         {"dBodyGetLinearVel",                                                   (void **) &dBodyGetLinearVel},
1050         {"dBodyGetAngularVel",                                                  (void **) &dBodyGetAngularVel},
1051         {"dBodySetMass",                                                                (void **) &dBodySetMass},
1052 //      {"dBodyGetMass",                                                                (void **) &dBodyGetMass},
1053 //      {"dBodyAddForce",                                                               (void **) &dBodyAddForce},
1054 //      {"dBodyAddTorque",                                                              (void **) &dBodyAddTorque},
1055 //      {"dBodyAddRelForce",                                                    (void **) &dBodyAddRelForce},
1056 //      {"dBodyAddRelTorque",                                                   (void **) &dBodyAddRelTorque},
1057 //      {"dBodyAddForceAtPos",                                                  (void **) &dBodyAddForceAtPos},
1058 //      {"dBodyAddForceAtRelPos",                                               (void **) &dBodyAddForceAtRelPos},
1059 //      {"dBodyAddRelForceAtPos",                                               (void **) &dBodyAddRelForceAtPos},
1060 //      {"dBodyAddRelForceAtRelPos",                                    (void **) &dBodyAddRelForceAtRelPos},
1061 //      {"dBodyGetForce",                                                               (void **) &dBodyGetForce},
1062 //      {"dBodyGetTorque",                                                              (void **) &dBodyGetTorque},
1063 //      {"dBodySetForce",                                                               (void **) &dBodySetForce},
1064 //      {"dBodySetTorque",                                                              (void **) &dBodySetTorque},
1065 //      {"dBodyGetRelPointPos",                                                 (void **) &dBodyGetRelPointPos},
1066 //      {"dBodyGetRelPointVel",                                                 (void **) &dBodyGetRelPointVel},
1067 //      {"dBodyGetPointVel",                                                    (void **) &dBodyGetPointVel},
1068 //      {"dBodyGetPosRelPoint",                                                 (void **) &dBodyGetPosRelPoint},
1069 //      {"dBodyVectorToWorld",                                                  (void **) &dBodyVectorToWorld},
1070 //      {"dBodyVectorFromWorld",                                                (void **) &dBodyVectorFromWorld},
1071 //      {"dBodySetFiniteRotationMode",                                  (void **) &dBodySetFiniteRotationMode},
1072 //      {"dBodySetFiniteRotationAxis",                                  (void **) &dBodySetFiniteRotationAxis},
1073 //      {"dBodyGetFiniteRotationMode",                                  (void **) &dBodyGetFiniteRotationMode},
1074 //      {"dBodyGetFiniteRotationAxis",                                  (void **) &dBodyGetFiniteRotationAxis},
1075 //      {"dBodyGetNumJoints",                                                   (void **) &dBodyGetNumJoints},
1076 //      {"dBodyGetJoint",                                                               (void **) &dBodyGetJoint},
1077 //      {"dBodySetDynamic",                                                             (void **) &dBodySetDynamic},
1078 //      {"dBodySetKinematic",                                                   (void **) &dBodySetKinematic},
1079 //      {"dBodyIsKinematic",                                                    (void **) &dBodyIsKinematic},
1080 //      {"dBodyEnable",                                                                 (void **) &dBodyEnable},
1081 //      {"dBodyDisable",                                                                (void **) &dBodyDisable},
1082 //      {"dBodyIsEnabled",                                                              (void **) &dBodyIsEnabled},
1083         {"dBodySetGravityMode",                                                 (void **) &dBodySetGravityMode},
1084         {"dBodyGetGravityMode",                                                 (void **) &dBodyGetGravityMode},
1085 //      {"dBodySetMovedCallback",                                               (void **) &dBodySetMovedCallback},
1086 //      {"dBodyGetFirstGeom",                                                   (void **) &dBodyGetFirstGeom},
1087 //      {"dBodyGetNextGeom",                                                    (void **) &dBodyGetNextGeom},
1088 //      {"dBodySetDampingDefaults",                                             (void **) &dBodySetDampingDefaults},
1089 //      {"dBodyGetLinearDamping",                                               (void **) &dBodyGetLinearDamping},
1090 //      {"dBodySetLinearDamping",                                               (void **) &dBodySetLinearDamping},
1091 //      {"dBodyGetAngularDamping",                                              (void **) &dBodyGetAngularDamping},
1092 //      {"dBodySetAngularDamping",                                              (void **) &dBodySetAngularDamping},
1093 //      {"dBodySetDamping",                                                             (void **) &dBodySetDamping},
1094 //      {"dBodyGetLinearDampingThreshold",                              (void **) &dBodyGetLinearDampingThreshold},
1095 //      {"dBodySetLinearDampingThreshold",                              (void **) &dBodySetLinearDampingThreshold},
1096 //      {"dBodyGetAngularDampingThreshold",                             (void **) &dBodyGetAngularDampingThreshold},
1097 //      {"dBodySetAngularDampingThreshold",                             (void **) &dBodySetAngularDampingThreshold},
1098 //      {"dBodyGetMaxAngularSpeed",                                             (void **) &dBodyGetMaxAngularSpeed},
1099 //      {"dBodySetMaxAngularSpeed",                                             (void **) &dBodySetMaxAngularSpeed},
1100 //      {"dBodyGetGyroscopicMode",                                              (void **) &dBodyGetGyroscopicMode},
1101 //      {"dBodySetGyroscopicMode",                                              (void **) &dBodySetGyroscopicMode},
1102 //      {"dJointCreateBall",                                                    (void **) &dJointCreateBall},
1103 //      {"dJointCreateHinge",                                                   (void **) &dJointCreateHinge},
1104 //      {"dJointCreateSlider",                                                  (void **) &dJointCreateSlider},
1105         {"dJointCreateContact",                                                 (void **) &dJointCreateContact},
1106 //      {"dJointCreateHinge2",                                                  (void **) &dJointCreateHinge2},
1107 //      {"dJointCreateUniversal",                                               (void **) &dJointCreateUniversal},
1108 //      {"dJointCreatePR",                                                              (void **) &dJointCreatePR},
1109 //      {"dJointCreatePU",                                                              (void **) &dJointCreatePU},
1110 //      {"dJointCreatePiston",                                                  (void **) &dJointCreatePiston},
1111 //      {"dJointCreateFixed",                                                   (void **) &dJointCreateFixed},
1112 //      {"dJointCreateNull",                                                    (void **) &dJointCreateNull},
1113 //      {"dJointCreateAMotor",                                                  (void **) &dJointCreateAMotor},
1114 //      {"dJointCreateLMotor",                                                  (void **) &dJointCreateLMotor},
1115 //      {"dJointCreatePlane2D",                                                 (void **) &dJointCreatePlane2D},
1116 //      {"dJointDestroy",                                                               (void **) &dJointDestroy},
1117         {"dJointGroupCreate",                                                   (void **) &dJointGroupCreate},
1118         {"dJointGroupDestroy",                                                  (void **) &dJointGroupDestroy},
1119         {"dJointGroupEmpty",                                                    (void **) &dJointGroupEmpty},
1120 //      {"dJointGetNumBodies",                                                  (void **) &dJointGetNumBodies},
1121         {"dJointAttach",                                                                (void **) &dJointAttach},
1122 //      {"dJointEnable",                                                                (void **) &dJointEnable},
1123 //      {"dJointDisable",                                                               (void **) &dJointDisable},
1124 //      {"dJointIsEnabled",                                                             (void **) &dJointIsEnabled},
1125 //      {"dJointSetData",                                                               (void **) &dJointSetData},
1126 //      {"dJointGetData",                                                               (void **) &dJointGetData},
1127 //      {"dJointGetType",                                                               (void **) &dJointGetType},
1128 //      {"dJointGetBody",                                                               (void **) &dJointGetBody},
1129 //      {"dJointSetFeedback",                                                   (void **) &dJointSetFeedback},
1130 //      {"dJointGetFeedback",                                                   (void **) &dJointGetFeedback},
1131 //      {"dJointSetBallAnchor",                                                 (void **) &dJointSetBallAnchor},
1132 //      {"dJointSetBallAnchor2",                                                (void **) &dJointSetBallAnchor2},
1133 //      {"dJointSetBallParam",                                                  (void **) &dJointSetBallParam},
1134 //      {"dJointSetHingeAnchor",                                                (void **) &dJointSetHingeAnchor},
1135 //      {"dJointSetHingeAnchorDelta",                                   (void **) &dJointSetHingeAnchorDelta},
1136 //      {"dJointSetHingeAxis",                                                  (void **) &dJointSetHingeAxis},
1137 //      {"dJointSetHingeAxisOffset",                                    (void **) &dJointSetHingeAxisOffset},
1138 //      {"dJointSetHingeParam",                                                 (void **) &dJointSetHingeParam},
1139 //      {"dJointAddHingeTorque",                                                (void **) &dJointAddHingeTorque},
1140 //      {"dJointSetSliderAxis",                                                 (void **) &dJointSetSliderAxis},
1141 //      {"dJointSetSliderAxisDelta",                                    (void **) &dJointSetSliderAxisDelta},
1142 //      {"dJointSetSliderParam",                                                (void **) &dJointSetSliderParam},
1143 //      {"dJointAddSliderForce",                                                (void **) &dJointAddSliderForce},
1144 //      {"dJointSetHinge2Anchor",                                               (void **) &dJointSetHinge2Anchor},
1145 //      {"dJointSetHinge2Axis1",                                                (void **) &dJointSetHinge2Axis1},
1146 //      {"dJointSetHinge2Axis2",                                                (void **) &dJointSetHinge2Axis2},
1147 //      {"dJointSetHinge2Param",                                                (void **) &dJointSetHinge2Param},
1148 //      {"dJointAddHinge2Torques",                                              (void **) &dJointAddHinge2Torques},
1149 //      {"dJointSetUniversalAnchor",                                    (void **) &dJointSetUniversalAnchor},
1150 //      {"dJointSetUniversalAxis1",                                             (void **) &dJointSetUniversalAxis1},
1151 //      {"dJointSetUniversalAxis1Offset",                               (void **) &dJointSetUniversalAxis1Offset},
1152 //      {"dJointSetUniversalAxis2",                                             (void **) &dJointSetUniversalAxis2},
1153 //      {"dJointSetUniversalAxis2Offset",                               (void **) &dJointSetUniversalAxis2Offset},
1154 //      {"dJointSetUniversalParam",                                             (void **) &dJointSetUniversalParam},
1155 //      {"dJointAddUniversalTorques",                                   (void **) &dJointAddUniversalTorques},
1156 //      {"dJointSetPRAnchor",                                                   (void **) &dJointSetPRAnchor},
1157 //      {"dJointSetPRAxis1",                                                    (void **) &dJointSetPRAxis1},
1158 //      {"dJointSetPRAxis2",                                                    (void **) &dJointSetPRAxis2},
1159 //      {"dJointSetPRParam",                                                    (void **) &dJointSetPRParam},
1160 //      {"dJointAddPRTorque",                                                   (void **) &dJointAddPRTorque},
1161 //      {"dJointSetPUAnchor",                                                   (void **) &dJointSetPUAnchor},
1162 //      {"dJointSetPUAnchorOffset",                                             (void **) &dJointSetPUAnchorOffset},
1163 //      {"dJointSetPUAxis1",                                                    (void **) &dJointSetPUAxis1},
1164 //      {"dJointSetPUAxis2",                                                    (void **) &dJointSetPUAxis2},
1165 //      {"dJointSetPUAxis3",                                                    (void **) &dJointSetPUAxis3},
1166 //      {"dJointSetPUAxisP",                                                    (void **) &dJointSetPUAxisP},
1167 //      {"dJointSetPUParam",                                                    (void **) &dJointSetPUParam},
1168 //      {"dJointAddPUTorque",                                                   (void **) &dJointAddPUTorque},
1169 //      {"dJointSetPistonAnchor",                                               (void **) &dJointSetPistonAnchor},
1170 //      {"dJointSetPistonAnchorOffset",                                 (void **) &dJointSetPistonAnchorOffset},
1171 //      {"dJointSetPistonParam",                                                (void **) &dJointSetPistonParam},
1172 //      {"dJointAddPistonForce",                                                (void **) &dJointAddPistonForce},
1173 //      {"dJointSetFixed",                                                              (void **) &dJointSetFixed},
1174 //      {"dJointSetFixedParam",                                                 (void **) &dJointSetFixedParam},
1175 //      {"dJointSetAMotorNumAxes",                                              (void **) &dJointSetAMotorNumAxes},
1176 //      {"dJointSetAMotorAxis",                                                 (void **) &dJointSetAMotorAxis},
1177 //      {"dJointSetAMotorAngle",                                                (void **) &dJointSetAMotorAngle},
1178 //      {"dJointSetAMotorParam",                                                (void **) &dJointSetAMotorParam},
1179 //      {"dJointSetAMotorMode",                                                 (void **) &dJointSetAMotorMode},
1180 //      {"dJointAddAMotorTorques",                                              (void **) &dJointAddAMotorTorques},
1181 //      {"dJointSetLMotorNumAxes",                                              (void **) &dJointSetLMotorNumAxes},
1182 //      {"dJointSetLMotorAxis",                                                 (void **) &dJointSetLMotorAxis},
1183 //      {"dJointSetLMotorParam",                                                (void **) &dJointSetLMotorParam},
1184 //      {"dJointSetPlane2DXParam",                                              (void **) &dJointSetPlane2DXParam},
1185 //      {"dJointSetPlane2DYParam",                                              (void **) &dJointSetPlane2DYParam},
1186 //      {"dJointSetPlane2DAngleParam",                                  (void **) &dJointSetPlane2DAngleParam},
1187 //      {"dJointGetBallAnchor",                                                 (void **) &dJointGetBallAnchor},
1188 //      {"dJointGetBallAnchor2",                                                (void **) &dJointGetBallAnchor2},
1189 //      {"dJointGetBallParam",                                                  (void **) &dJointGetBallParam},
1190 //      {"dJointGetHingeAnchor",                                                (void **) &dJointGetHingeAnchor},
1191 //      {"dJointGetHingeAnchor2",                                               (void **) &dJointGetHingeAnchor2},
1192 //      {"dJointGetHingeAxis",                                                  (void **) &dJointGetHingeAxis},
1193 //      {"dJointGetHingeParam",                                                 (void **) &dJointGetHingeParam},
1194 //      {"dJointGetHingeAngle",                                                 (void **) &dJointGetHingeAngle},
1195 //      {"dJointGetHingeAngleRate",                                             (void **) &dJointGetHingeAngleRate},
1196 //      {"dJointGetSliderPosition",                                             (void **) &dJointGetSliderPosition},
1197 //      {"dJointGetSliderPositionRate",                                 (void **) &dJointGetSliderPositionRate},
1198 //      {"dJointGetSliderAxis",                                                 (void **) &dJointGetSliderAxis},
1199 //      {"dJointGetSliderParam",                                                (void **) &dJointGetSliderParam},
1200 //      {"dJointGetHinge2Anchor",                                               (void **) &dJointGetHinge2Anchor},
1201 //      {"dJointGetHinge2Anchor2",                                              (void **) &dJointGetHinge2Anchor2},
1202 //      {"dJointGetHinge2Axis1",                                                (void **) &dJointGetHinge2Axis1},
1203 //      {"dJointGetHinge2Axis2",                                                (void **) &dJointGetHinge2Axis2},
1204 //      {"dJointGetHinge2Param",                                                (void **) &dJointGetHinge2Param},
1205 //      {"dJointGetHinge2Angle1",                                               (void **) &dJointGetHinge2Angle1},
1206 //      {"dJointGetHinge2Angle1Rate",                                   (void **) &dJointGetHinge2Angle1Rate},
1207 //      {"dJointGetHinge2Angle2Rate",                                   (void **) &dJointGetHinge2Angle2Rate},
1208 //      {"dJointGetUniversalAnchor",                                    (void **) &dJointGetUniversalAnchor},
1209 //      {"dJointGetUniversalAnchor2",                                   (void **) &dJointGetUniversalAnchor2},
1210 //      {"dJointGetUniversalAxis1",                                             (void **) &dJointGetUniversalAxis1},
1211 //      {"dJointGetUniversalAxis2",                                             (void **) &dJointGetUniversalAxis2},
1212 //      {"dJointGetUniversalParam",                                             (void **) &dJointGetUniversalParam},
1213 //      {"dJointGetUniversalAngles",                                    (void **) &dJointGetUniversalAngles},
1214 //      {"dJointGetUniversalAngle1",                                    (void **) &dJointGetUniversalAngle1},
1215 //      {"dJointGetUniversalAngle2",                                    (void **) &dJointGetUniversalAngle2},
1216 //      {"dJointGetUniversalAngle1Rate",                                (void **) &dJointGetUniversalAngle1Rate},
1217 //      {"dJointGetUniversalAngle2Rate",                                (void **) &dJointGetUniversalAngle2Rate},
1218 //      {"dJointGetPRAnchor",                                                   (void **) &dJointGetPRAnchor},
1219 //      {"dJointGetPRPosition",                                                 (void **) &dJointGetPRPosition},
1220 //      {"dJointGetPRPositionRate",                                             (void **) &dJointGetPRPositionRate},
1221 //      {"dJointGetPRAngle",                                                    (void **) &dJointGetPRAngle},
1222 //      {"dJointGetPRAngleRate",                                                (void **) &dJointGetPRAngleRate},
1223 //      {"dJointGetPRAxis1",                                                    (void **) &dJointGetPRAxis1},
1224 //      {"dJointGetPRAxis2",                                                    (void **) &dJointGetPRAxis2},
1225 //      {"dJointGetPRParam",                                                    (void **) &dJointGetPRParam},
1226 //      {"dJointGetPUAnchor",                                                   (void **) &dJointGetPUAnchor},
1227 //      {"dJointGetPUPosition",                                                 (void **) &dJointGetPUPosition},
1228 //      {"dJointGetPUPositionRate",                                             (void **) &dJointGetPUPositionRate},
1229 //      {"dJointGetPUAxis1",                                                    (void **) &dJointGetPUAxis1},
1230 //      {"dJointGetPUAxis2",                                                    (void **) &dJointGetPUAxis2},
1231 //      {"dJointGetPUAxis3",                                                    (void **) &dJointGetPUAxis3},
1232 //      {"dJointGetPUAxisP",                                                    (void **) &dJointGetPUAxisP},
1233 //      {"dJointGetPUAngles",                                                   (void **) &dJointGetPUAngles},
1234 //      {"dJointGetPUAngle1",                                                   (void **) &dJointGetPUAngle1},
1235 //      {"dJointGetPUAngle1Rate",                                               (void **) &dJointGetPUAngle1Rate},
1236 //      {"dJointGetPUAngle2",                                                   (void **) &dJointGetPUAngle2},
1237 //      {"dJointGetPUAngle2Rate",                                               (void **) &dJointGetPUAngle2Rate},
1238 //      {"dJointGetPUParam",                                                    (void **) &dJointGetPUParam},
1239 //      {"dJointGetPistonPosition",                                             (void **) &dJointGetPistonPosition},
1240 //      {"dJointGetPistonPositionRate",                                 (void **) &dJointGetPistonPositionRate},
1241 //      {"dJointGetPistonAngle",                                                (void **) &dJointGetPistonAngle},
1242 //      {"dJointGetPistonAngleRate",                                    (void **) &dJointGetPistonAngleRate},
1243 //      {"dJointGetPistonAnchor",                                               (void **) &dJointGetPistonAnchor},
1244 //      {"dJointGetPistonAnchor2",                                              (void **) &dJointGetPistonAnchor2},
1245 //      {"dJointGetPistonAxis",                                                 (void **) &dJointGetPistonAxis},
1246 //      {"dJointGetPistonParam",                                                (void **) &dJointGetPistonParam},
1247 //      {"dJointGetAMotorNumAxes",                                              (void **) &dJointGetAMotorNumAxes},
1248 //      {"dJointGetAMotorAxis",                                                 (void **) &dJointGetAMotorAxis},
1249 //      {"dJointGetAMotorAxisRel",                                              (void **) &dJointGetAMotorAxisRel},
1250 //      {"dJointGetAMotorAngle",                                                (void **) &dJointGetAMotorAngle},
1251 //      {"dJointGetAMotorAngleRate",                                    (void **) &dJointGetAMotorAngleRate},
1252 //      {"dJointGetAMotorParam",                                                (void **) &dJointGetAMotorParam},
1253 //      {"dJointGetAMotorMode",                                                 (void **) &dJointGetAMotorMode},
1254 //      {"dJointGetLMotorNumAxes",                                              (void **) &dJointGetLMotorNumAxes},
1255 //      {"dJointGetLMotorAxis",                                                 (void **) &dJointGetLMotorAxis},
1256 //      {"dJointGetLMotorParam",                                                (void **) &dJointGetLMotorParam},
1257 //      {"dJointGetFixedParam",                                                 (void **) &dJointGetFixedParam},
1258 //      {"dConnectingJoint",                                                    (void **) &dConnectingJoint},
1259 //      {"dConnectingJointList",                                                (void **) &dConnectingJointList},
1260         {"dAreConnected",                                                               (void **) &dAreConnected},
1261         {"dAreConnectedExcluding",                                              (void **) &dAreConnectedExcluding},
1262         {"dSimpleSpaceCreate",                                                  (void **) &dSimpleSpaceCreate},
1263         {"dHashSpaceCreate",                                                    (void **) &dHashSpaceCreate},
1264         {"dQuadTreeSpaceCreate",                                                (void **) &dQuadTreeSpaceCreate},
1265 //      {"dSweepAndPruneSpaceCreate",                                   (void **) &dSweepAndPruneSpaceCreate},
1266         {"dSpaceDestroy",                                                               (void **) &dSpaceDestroy},
1267 //      {"dHashSpaceSetLevels",                                                 (void **) &dHashSpaceSetLevels},
1268 //      {"dHashSpaceGetLevels",                                                 (void **) &dHashSpaceGetLevels},
1269 //      {"dSpaceSetCleanup",                                                    (void **) &dSpaceSetCleanup},
1270 //      {"dSpaceGetCleanup",                                                    (void **) &dSpaceGetCleanup},
1271 //      {"dSpaceSetSublevel",                                                   (void **) &dSpaceSetSublevel},
1272 //      {"dSpaceGetSublevel",                                                   (void **) &dSpaceGetSublevel},
1273 //      {"dSpaceSetManualCleanup",                                              (void **) &dSpaceSetManualCleanup},
1274 //      {"dSpaceGetManualCleanup",                                              (void **) &dSpaceGetManualCleanup},
1275 //      {"dSpaceAdd",                                                                   (void **) &dSpaceAdd},
1276 //      {"dSpaceRemove",                                                                (void **) &dSpaceRemove},
1277 //      {"dSpaceQuery",                                                                 (void **) &dSpaceQuery},
1278 //      {"dSpaceClean",                                                                 (void **) &dSpaceClean},
1279 //      {"dSpaceGetNumGeoms",                                                   (void **) &dSpaceGetNumGeoms},
1280 //      {"dSpaceGetGeom",                                                               (void **) &dSpaceGetGeom},
1281 //      {"dSpaceGetClass",                                                              (void **) &dSpaceGetClass},
1282         {"dGeomDestroy",                                                                (void **) &dGeomDestroy},
1283 //      {"dGeomSetData",                                                                (void **) &dGeomSetData},
1284 //      {"dGeomGetData",                                                                (void **) &dGeomGetData},
1285         {"dGeomSetBody",                                                                (void **) &dGeomSetBody},
1286         {"dGeomGetBody",                                                                (void **) &dGeomGetBody},
1287 //      {"dGeomSetPosition",                                                    (void **) &dGeomSetPosition},
1288         {"dGeomSetRotation",                                                    (void **) &dGeomSetRotation},
1289 //      {"dGeomSetQuaternion",                                                  (void **) &dGeomSetQuaternion},
1290 //      {"dGeomGetPosition",                                                    (void **) &dGeomGetPosition},
1291 //      {"dGeomCopyPosition",                                                   (void **) &dGeomCopyPosition},
1292 //      {"dGeomGetRotation",                                                    (void **) &dGeomGetRotation},
1293 //      {"dGeomCopyRotation",                                                   (void **) &dGeomCopyRotation},
1294 //      {"dGeomGetQuaternion",                                                  (void **) &dGeomGetQuaternion},
1295 //      {"dGeomGetAABB",                                                                (void **) &dGeomGetAABB},
1296         {"dGeomIsSpace",                                                                (void **) &dGeomIsSpace},
1297 //      {"dGeomGetSpace",                                                               (void **) &dGeomGetSpace},
1298 //      {"dGeomGetClass",                                                               (void **) &dGeomGetClass},
1299 //      {"dGeomSetCategoryBits",                                                (void **) &dGeomSetCategoryBits},
1300 //      {"dGeomSetCollideBits",                                                 (void **) &dGeomSetCollideBits},
1301 //      {"dGeomGetCategoryBits",                                                (void **) &dGeomGetCategoryBits},
1302 //      {"dGeomGetCollideBits",                                                 (void **) &dGeomGetCollideBits},
1303 //      {"dGeomEnable",                                                                 (void **) &dGeomEnable},
1304 //      {"dGeomDisable",                                                                (void **) &dGeomDisable},
1305 //      {"dGeomIsEnabled",                                                              (void **) &dGeomIsEnabled},
1306 //      {"dGeomSetOffsetPosition",                                              (void **) &dGeomSetOffsetPosition},
1307 //      {"dGeomSetOffsetRotation",                                              (void **) &dGeomSetOffsetRotation},
1308 //      {"dGeomSetOffsetQuaternion",                                    (void **) &dGeomSetOffsetQuaternion},
1309 //      {"dGeomSetOffsetWorldPosition",                                 (void **) &dGeomSetOffsetWorldPosition},
1310 //      {"dGeomSetOffsetWorldRotation",                                 (void **) &dGeomSetOffsetWorldRotation},
1311 //      {"dGeomSetOffsetWorldQuaternion",                               (void **) &dGeomSetOffsetWorldQuaternion},
1312 //      {"dGeomClearOffset",                                                    (void **) &dGeomClearOffset},
1313 //      {"dGeomIsOffset",                                                               (void **) &dGeomIsOffset},
1314 //      {"dGeomGetOffsetPosition",                                              (void **) &dGeomGetOffsetPosition},
1315 //      {"dGeomCopyOffsetPosition",                                             (void **) &dGeomCopyOffsetPosition},
1316 //      {"dGeomGetOffsetRotation",                                              (void **) &dGeomGetOffsetRotation},
1317 //      {"dGeomCopyOffsetRotation",                                             (void **) &dGeomCopyOffsetRotation},
1318 //      {"dGeomGetOffsetQuaternion",                                    (void **) &dGeomGetOffsetQuaternion},
1319         {"dCollide",                                                                    (void **) &dCollide},
1320         {"dSpaceCollide",                                                               (void **) &dSpaceCollide},
1321         {"dSpaceCollide2",                                                              (void **) &dSpaceCollide2},
1322         {"dCreateSphere",                                                               (void **) &dCreateSphere},
1323 //      {"dGeomSphereSetRadius",                                                (void **) &dGeomSphereSetRadius},
1324 //      {"dGeomSphereGetRadius",                                                (void **) &dGeomSphereGetRadius},
1325 //      {"dGeomSpherePointDepth",                                               (void **) &dGeomSpherePointDepth},
1326 //      {"dCreateConvex",                                                               (void **) &dCreateConvex},
1327 //      {"dGeomSetConvex",                                                              (void **) &dGeomSetConvex},
1328         {"dCreateBox",                                                                  (void **) &dCreateBox},
1329 //      {"dGeomBoxSetLengths",                                                  (void **) &dGeomBoxSetLengths},
1330 //      {"dGeomBoxGetLengths",                                                  (void **) &dGeomBoxGetLengths},
1331 //      {"dGeomBoxPointDepth",                                                  (void **) &dGeomBoxPointDepth},
1332 //      {"dGeomBoxPointDepth",                                                  (void **) &dGeomBoxPointDepth},
1333 //      {"dCreatePlane",                                                                (void **) &dCreatePlane},
1334 //      {"dGeomPlaneSetParams",                                                 (void **) &dGeomPlaneSetParams},
1335 //      {"dGeomPlaneGetParams",                                                 (void **) &dGeomPlaneGetParams},
1336 //      {"dGeomPlanePointDepth",                                                (void **) &dGeomPlanePointDepth},
1337         {"dCreateCapsule",                                                              (void **) &dCreateCapsule},
1338 //      {"dGeomCapsuleSetParams",                                               (void **) &dGeomCapsuleSetParams},
1339 //      {"dGeomCapsuleGetParams",                                               (void **) &dGeomCapsuleGetParams},
1340 //      {"dGeomCapsulePointDepth",                                              (void **) &dGeomCapsulePointDepth},
1341 //      {"dCreateCylinder",                                                             (void **) &dCreateCylinder},
1342 //      {"dGeomCylinderSetParams",                                              (void **) &dGeomCylinderSetParams},
1343 //      {"dGeomCylinderGetParams",                                              (void **) &dGeomCylinderGetParams},
1344 //      {"dCreateRay",                                                                  (void **) &dCreateRay},
1345 //      {"dGeomRaySetLength",                                                   (void **) &dGeomRaySetLength},
1346 //      {"dGeomRayGetLength",                                                   (void **) &dGeomRayGetLength},
1347 //      {"dGeomRaySet",                                                                 (void **) &dGeomRaySet},
1348 //      {"dGeomRayGet",                                                                 (void **) &dGeomRayGet},
1349         {"dCreateGeomTransform",                                                (void **) &dCreateGeomTransform},
1350         {"dGeomTransformSetGeom",                                               (void **) &dGeomTransformSetGeom},
1351 //      {"dGeomTransformGetGeom",                                               (void **) &dGeomTransformGetGeom},
1352         {"dGeomTransformSetCleanup",                                    (void **) &dGeomTransformSetCleanup},
1353 //      {"dGeomTransformGetCleanup",                                    (void **) &dGeomTransformGetCleanup},
1354 //      {"dGeomTransformSetInfo",                                               (void **) &dGeomTransformSetInfo},
1355 //      {"dGeomTransformGetInfo",                                               (void **) &dGeomTransformGetInfo},
1356         {"dGeomTriMeshDataCreate",                      (void **) &dGeomTriMeshDataCreate},
1357         {"dGeomTriMeshDataDestroy",                     (void **) &dGeomTriMeshDataDestroy},
1358 //      {"dGeomTriMeshDataSet",                         (void **) &dGeomTriMeshDataSet},
1359 //      {"dGeomTriMeshDataGet",                         (void **) &dGeomTriMeshDataGet},
1360 //      {"dGeomTriMeshSetLastTransform",                (void **) &dGeomTriMeshSetLastTransform},
1361 //      {"dGeomTriMeshGetLastTransform",                (void **) &dGeomTriMeshGetLastTransform},
1362         {"dGeomTriMeshDataBuildSingle",                 (void **) &dGeomTriMeshDataBuildSingle},
1363 //      {"dGeomTriMeshDataBuildSingle1",                (void **) &dGeomTriMeshDataBuildSingle1},
1364 //      {"dGeomTriMeshDataBuildDouble",                 (void **) &dGeomTriMeshDataBuildDouble},
1365 //      {"dGeomTriMeshDataBuildDouble1",                (void **) &dGeomTriMeshDataBuildDouble1},
1366 //      {"dGeomTriMeshDataBuildSimple",                 (void **) &dGeomTriMeshDataBuildSimple},
1367 //      {"dGeomTriMeshDataBuildSimple1",                (void **) &dGeomTriMeshDataBuildSimple1},
1368 //      {"dGeomTriMeshDataPreprocess",                  (void **) &dGeomTriMeshDataPreprocess},
1369 //      {"dGeomTriMeshDataGetBuffer",                   (void **) &dGeomTriMeshDataGetBuffer},
1370 //      {"dGeomTriMeshDataSetBuffer",                   (void **) &dGeomTriMeshDataSetBuffer},
1371 //      {"dGeomTriMeshSetCallback",                     (void **) &dGeomTriMeshSetCallback},
1372 //      {"dGeomTriMeshGetCallback",                     (void **) &dGeomTriMeshGetCallback},
1373 //      {"dGeomTriMeshSetArrayCallback",                (void **) &dGeomTriMeshSetArrayCallback},
1374 //      {"dGeomTriMeshGetArrayCallback",                (void **) &dGeomTriMeshGetArrayCallback},
1375 //      {"dGeomTriMeshSetRayCallback",                  (void **) &dGeomTriMeshSetRayCallback},
1376 //      {"dGeomTriMeshGetRayCallback",                  (void **) &dGeomTriMeshGetRayCallback},
1377 //      {"dGeomTriMeshSetTriMergeCallback",             (void **) &dGeomTriMeshSetTriMergeCallback},
1378 //      {"dGeomTriMeshGetTriMergeCallback",             (void **) &dGeomTriMeshGetTriMergeCallback},
1379         {"dCreateTriMesh",                              (void **) &dCreateTriMesh},
1380 //      {"dGeomTriMeshSetData",                         (void **) &dGeomTriMeshSetData},
1381 //      {"dGeomTriMeshGetData",                         (void **) &dGeomTriMeshGetData},
1382 //      {"dGeomTriMeshEnableTC",                        (void **) &dGeomTriMeshEnableTC},
1383 //      {"dGeomTriMeshIsTCEnabled",                     (void **) &dGeomTriMeshIsTCEnabled},
1384 //      {"dGeomTriMeshClearTCCache",                    (void **) &dGeomTriMeshClearTCCache},
1385 //      {"dGeomTriMeshGetTriMeshDataID",                (void **) &dGeomTriMeshGetTriMeshDataID},
1386 //      {"dGeomTriMeshGetTriangle",                     (void **) &dGeomTriMeshGetTriangle},
1387 //      {"dGeomTriMeshGetPoint",                        (void **) &dGeomTriMeshGetPoint},
1388 //      {"dGeomTriMeshGetTriangleCount",                (void **) &dGeomTriMeshGetTriangleCount},
1389 //      {"dGeomTriMeshDataUpdate",                      (void **) &dGeomTriMeshDataUpdate},
1390         {NULL, NULL}
1391 };
1392
1393 // Handle for ODE DLL
1394 dllhandle_t ode_dll = NULL;
1395 #endif
1396 #endif
1397
1398 static void World_Physics_Init(void)
1399 {
1400 #ifdef USEODE
1401 #ifdef ODE_DYNAMIC
1402         const char* dllnames [] =
1403         {
1404 # if defined(WIN64)
1405                 "libode1_64.dll",
1406 # elif defined(WIN32)
1407                 "libode1.dll",
1408 # elif defined(MACOSX)
1409                 "libode.1.dylib",
1410 # else
1411                 "libode.so.1",
1412 # endif
1413                 NULL
1414         };
1415 #endif
1416
1417         Cvar_RegisterVariable(&physics_ode_quadtree_depth);
1418         Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
1419         Cvar_RegisterVariable(&physics_ode_worldquickstep);
1420         Cvar_RegisterVariable(&physics_ode_worldquickstep_iterations);
1421         Cvar_RegisterVariable(&physics_ode_worldstepfast);
1422         Cvar_RegisterVariable(&physics_ode_worldstepfast_iterations);
1423         Cvar_RegisterVariable(&physics_ode_contact_mu);
1424         Cvar_RegisterVariable(&physics_ode_contact_erp);
1425         Cvar_RegisterVariable(&physics_ode_contact_cfm);
1426         Cvar_RegisterVariable(&physics_ode_iterationsperframe);
1427         Cvar_RegisterVariable(&physics_ode_movelimit);
1428         Cvar_RegisterVariable(&physics_ode_spinlimit);
1429
1430 #ifdef ODE_DYNAMIC
1431         // Load the DLL
1432         if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
1433 #endif
1434         {
1435                 dInitODE();
1436 //              dInitODE2(0);
1437 #ifdef ODE_DNYAMIC
1438 # ifdef dSINGLE
1439                 if (!dCheckConfiguration("ODE_single_precision"))
1440 # else
1441                 if (!dCheckConfiguration("ODE_double_precision"))
1442 # endif
1443                 {
1444 # ifdef dSINGLE
1445                         Con_Printf("ode library not compiled for single precision - incompatible!  Not using ODE physics.\n");
1446 # else
1447                         Con_Printf("ode library not compiled for double precision - incompatible!  Not using ODE physics.\n");
1448 # endif
1449                         Sys_UnloadLibrary(&ode_dll);
1450                         ode_dll = NULL;
1451                 }
1452 #endif
1453         }
1454 #endif
1455 }
1456
1457 static void World_Physics_Shutdown(void)
1458 {
1459 #ifdef USEODE
1460 #ifdef ODE_DYNAMIC
1461         if (ode_dll)
1462 #endif
1463         {
1464                 dCloseODE();
1465 #ifdef ODE_DYNAMIC
1466                 Sys_UnloadLibrary(&ode_dll);
1467                 ode_dll = NULL;
1468 #endif
1469         }
1470 #endif
1471 }
1472
1473 #ifdef USEODE
1474 static void World_Physics_EnableODE(world_t *world)
1475 {
1476         dVector3 center, extents;
1477         if (world->physics.ode)
1478                 return;
1479 #ifdef ODE_DYNAMIC
1480         if (!ode_dll)
1481                 return;
1482 #endif
1483         world->physics.ode = true;
1484         VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
1485         VectorSubtract(world->maxs, center, extents);
1486         world->physics.ode_world = dWorldCreate();
1487         world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
1488         world->physics.ode_contactgroup = dJointGroupCreate(0);
1489         // we don't currently set dWorldSetCFM or dWorldSetERP because the defaults seem fine
1490 }
1491 #endif
1492
1493 static void World_Physics_Start(world_t *world)
1494 {
1495 #ifdef USEODE
1496         if (world->physics.ode)
1497                 return;
1498         World_Physics_EnableODE(world);
1499 #endif
1500 }
1501
1502 static void World_Physics_End(world_t *world)
1503 {
1504 #ifdef USEODE
1505         if (world->physics.ode)
1506         {
1507                 dWorldDestroy(world->physics.ode_world);
1508                 dSpaceDestroy(world->physics.ode_space);
1509                 dJointGroupDestroy(world->physics.ode_contactgroup);
1510                 world->physics.ode = false;
1511         }
1512 #endif
1513 }
1514
1515 void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
1516 {
1517         // entity is not physics controlled, free any physics data
1518         ed->priv.server->ode_physics = false;
1519 #ifdef USEODE
1520         if (ed->priv.server->ode_geom)
1521                 dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
1522         ed->priv.server->ode_geom = NULL;
1523         if (ed->priv.server->ode_body)
1524                 dBodyDestroy((dBodyID)ed->priv.server->ode_body);
1525         ed->priv.server->ode_body = NULL;
1526 #endif
1527         if (ed->priv.server->ode_vertex3f)
1528                 Mem_Free(ed->priv.server->ode_vertex3f);
1529         ed->priv.server->ode_vertex3f = NULL;
1530         ed->priv.server->ode_numvertices = 0;
1531         if (ed->priv.server->ode_element3i)
1532                 Mem_Free(ed->priv.server->ode_element3i);
1533         ed->priv.server->ode_element3i = NULL;
1534         ed->priv.server->ode_numtriangles = 0;
1535 }
1536
1537 #ifdef USEODE
1538 static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
1539 {
1540         const dReal *avel;
1541         const dReal *o;
1542         const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
1543         const dReal *vel;
1544         dBodyID body = (dBodyID)ed->priv.server->ode_body;
1545         int movetype;
1546         matrix4x4_t bodymatrix;
1547         matrix4x4_t entitymatrix;
1548         prvm_eval_t *val;
1549         vec3_t angles;
1550         vec3_t avelocity;
1551         vec3_t forward, left, up;
1552         vec3_t origin;
1553         vec3_t spinvelocity;
1554         vec3_t velocity;
1555         if (!body)
1556                 return;
1557         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
1558         movetype = (int)val->_float;
1559         if (movetype != MOVETYPE_PHYSICS)
1560                 return;
1561         // store the physics engine data into the entity
1562         o = dBodyGetPosition(body);
1563         r = dBodyGetRotation(body);
1564         vel = dBodyGetLinearVel(body);
1565         avel = dBodyGetAngularVel(body);
1566         VectorCopy(o, origin);
1567         forward[0] = r[0];
1568         forward[1] = r[4];
1569         forward[2] = r[8];
1570         left[0] = r[1];
1571         left[1] = r[5];
1572         left[2] = r[9];
1573         up[0] = r[2];
1574         up[1] = r[6];
1575         up[2] = r[10];
1576         VectorCopy(vel, velocity);
1577         VectorCopy(avel, spinvelocity);
1578         Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
1579         Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
1580         Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
1581
1582         AnglesFromVectors(angles, forward, up, true);
1583         VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[YAW]), RAD2DEG(spinvelocity[ROLL]));
1584
1585         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector);
1586         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector);
1587         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector);
1588         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector);
1589         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector);
1590         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
1591         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(angles, val->vector);
1592         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(avelocity, val->vector);
1593
1594         // values for BodyFromEntity to check if the qc modified anything later
1595         VectorCopy(origin, ed->priv.server->ode_origin);
1596         VectorCopy(velocity, ed->priv.server->ode_velocity);
1597         VectorCopy(angles, ed->priv.server->ode_angles);
1598         VectorCopy(avelocity, ed->priv.server->ode_avelocity);
1599         ed->priv.server->ode_gravity = dBodyGetGravityMode(body);
1600 }
1601
1602 static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
1603 {
1604         const float *iv;
1605         const int *ie;
1606         dBodyID body = (dBodyID)ed->priv.server->ode_body;
1607         dMass mass;
1608         dReal test;
1609         void *dataID;
1610         dVector3 capsulerot[3];
1611         dp_model_t *model;
1612         float *ov;
1613         int *oe;
1614         int axisindex;
1615         int modelindex = 0;
1616         int movetype = MOVETYPE_NONE;
1617         int numtriangles;
1618         int numvertices;
1619         int solid = SOLID_NOT;
1620         int triangleindex;
1621         int vertexindex;
1622         mempool_t *mempool;
1623         prvm_eval_t *val;
1624         qboolean modified = false;
1625         vec3_t angles;
1626         vec3_t avelocity;
1627         vec3_t entmaxs;
1628         vec3_t entmins;
1629         vec3_t forward;
1630         vec3_t geomcenter;
1631         vec3_t geomsize;
1632         vec3_t left;
1633         vec3_t origin;
1634         vec3_t spinvelocity;
1635         vec3_t up;
1636         vec3_t velocity;
1637         vec_t f;
1638         vec_t length;
1639         vec_t massval = 1.0f;
1640         vec_t movelimit;
1641         vec_t radius;
1642         vec_t scale = 1.0f;
1643         vec_t spinlimit;
1644         qboolean gravity;
1645 #ifdef ODE_DYNAMIC
1646         if (!ode_dll)
1647                 return;
1648 #endif
1649         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);if (val) solid = (int)val->_float;
1650         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
1651         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val && val->_float) scale = val->_float;
1652         modelindex = 0;
1653         switch(solid)
1654         {
1655         case SOLID_BSP:
1656                 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex);
1657                 if (val)
1658                         modelindex = (int)val->_float;
1659                 if (world == &sv.world && modelindex >= 1 && modelindex < MAX_MODELS)
1660                 {
1661                         model = sv.models[modelindex];
1662                         mempool = sv_mempool;
1663                 }
1664                 else if (world == &cl.world && modelindex >= 1 && modelindex < MAX_MODELS)
1665                 {
1666                         model = cl.model_precache[modelindex];
1667                         mempool = cls.levelmempool;
1668                 }
1669                 else
1670                 {
1671                         model = NULL;
1672                         mempool = NULL;
1673                         modelindex = 0;
1674                 }
1675                 if (model)
1676                 {
1677                         VectorScale(model->normalmins, scale, entmins);
1678                         VectorScale(model->normalmaxs, scale, entmaxs);
1679                         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
1680                 }
1681                 else
1682                 {
1683                         modelindex = 0;
1684                         massval = 1.0f;
1685                 }
1686                 break;
1687         case SOLID_BBOX:
1688         //case SOLID_SLIDEBOX:
1689         case SOLID_CORPSE:
1690         case SOLID_PHYSICS_BOX:
1691         case SOLID_PHYSICS_SPHERE:
1692         case SOLID_PHYSICS_CAPSULE:
1693                 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mins);if (val) VectorCopy(val->vector, entmins);
1694                 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.maxs);if (val) VectorCopy(val->vector, entmaxs);
1695                 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
1696                 break;
1697         default:
1698                 if (ed->priv.server->ode_physics)
1699                         World_Physics_RemoveFromEntity(world, ed);
1700                 return;
1701         }
1702
1703         VectorSubtract(entmaxs, entmins, geomsize);
1704         if (VectorLength2(geomsize) == 0)
1705         {
1706                 // we don't allow point-size physics objects...
1707                 if (ed->priv.server->ode_physics)
1708                         World_Physics_RemoveFromEntity(world, ed);
1709                 return;
1710         }
1711
1712         if (movetype != MOVETYPE_PHYSICS)
1713                 massval = 1.0f;
1714
1715         // check if we need to create or replace the geom
1716         if (!ed->priv.server->ode_physics
1717          || !VectorCompare(ed->priv.server->ode_mins, entmins)
1718          || !VectorCompare(ed->priv.server->ode_maxs, entmaxs)
1719          || ed->priv.server->ode_mass != massval
1720          || ed->priv.server->ode_modelindex != modelindex)
1721         {
1722                 modified = true;
1723                 World_Physics_RemoveFromEntity(world, ed);
1724                 ed->priv.server->ode_physics = true;
1725                 VectorCopy(entmins, ed->priv.server->ode_mins);
1726                 VectorCopy(entmaxs, ed->priv.server->ode_maxs);
1727                 ed->priv.server->ode_mass = massval;
1728                 ed->priv.server->ode_modelindex = modelindex;
1729                 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
1730                 ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
1731
1732                 if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
1733                 {
1734                         if (movetype == MOVETYPE_PHYSICS)
1735                                 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));
1736                         massval = 1.0f;
1737                         VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
1738                 }
1739
1740                 switch(solid)
1741                 {
1742                 case SOLID_BSP:
1743                         ed->priv.server->ode_offsetmatrix = identitymatrix;
1744                         if (!model)
1745                         {
1746                                 Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
1747                                 break;
1748                         }
1749                         // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
1750                         if (!model->brush.collisionmesh)
1751                                 Mod_CreateCollisionMesh(model);
1752                         if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles)
1753                         {
1754                                 Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
1755                                 break;
1756                         }
1757                         // ODE requires persistent mesh storage, so we need to copy out
1758                         // the data from the model because renderer restarts could free it
1759                         // during the game, additionally we need to flip the triangles...
1760                         // note: ODE does preprocessing of the mesh for culling, removing
1761                         // concave edges, etc., so this is not a lightweight operation
1762                         ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
1763                         ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
1764                         for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
1765                         {
1766                                 ov[0] = iv[0] - geomcenter[0];
1767                                 ov[1] = iv[1] - geomcenter[1];
1768                                 ov[2] = iv[2] - geomcenter[2];
1769                         }
1770                         ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
1771                         ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
1772                         //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
1773                         for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
1774                         {
1775                                 oe[0] = ie[2];
1776                                 oe[1] = ie[1];
1777                                 oe[2] = ie[0];
1778                         }
1779                         Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
1780                         // now create the geom
1781                         dataID = dGeomTriMeshDataCreate();
1782                         dGeomTriMeshDataBuildSingle(dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3]));
1783                         ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
1784                         ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
1785                         dGeomSetBody(ed->priv.server->ode_geom, body);
1786                         dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
1787                         break;
1788                 case SOLID_BBOX:
1789                 case SOLID_SLIDEBOX:
1790                 case SOLID_CORPSE:
1791                 case SOLID_PHYSICS_BOX:
1792                         Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
1793                         ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
1794                         ed->priv.server->ode_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
1795                         dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
1796                         dGeomSetBody(ed->priv.server->ode_geom, body);
1797                         dBodySetMass(body, &mass);
1798                         break;
1799                 case SOLID_PHYSICS_SPHERE:
1800                         Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
1801                         ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
1802                         ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f);
1803                         dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
1804                         dGeomSetBody(ed->priv.server->ode_geom, body);
1805                         dBodySetMass(body, &mass);
1806                         dBodySetData(body, (void*)ed);
1807                         break;
1808                 case SOLID_PHYSICS_CAPSULE:
1809                         axisindex = 0;
1810                         if (geomsize[axisindex] < geomsize[1])
1811                                 axisindex = 1;
1812                         if (geomsize[axisindex] < geomsize[2])
1813                                 axisindex = 2;
1814                         // the qc gives us 3 axis radius, the longest axis is the capsule
1815                         // axis, since ODE doesn't like this idea we have to create a
1816                         // capsule which uses the standard orientation, and apply a
1817                         // transform to it
1818                         memset(capsulerot, 0, sizeof(capsulerot));
1819                         if (axisindex == 0)
1820                                 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
1821                         else if (axisindex == 1)
1822                                 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
1823                         else
1824                                 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
1825                         radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
1826                         length = geomsize[axisindex] - radius*2;
1827                         // because we want to support more than one axisindex, we have to
1828                         // create a transform, and turn on its cleanup setting (which will
1829                         // cause the child to be destroyed when it is destroyed)
1830                         ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
1831                         ed->priv.server->ode_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length);
1832                         dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
1833                         dGeomSetBody(ed->priv.server->ode_geom, body);
1834                         dBodySetMass(body, &mass);
1835                         break;
1836                 default:
1837                         Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
1838                 }
1839                 Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
1840         }
1841
1842         // get current data from entity
1843         VectorClear(origin);
1844         VectorClear(velocity);
1845         //VectorClear(forward);
1846         //VectorClear(left);
1847         //VectorClear(up);
1848         //VectorClear(spinvelocity);
1849         VectorClear(angles);
1850         VectorClear(avelocity);
1851         gravity = true;
1852         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
1853         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
1854         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward);
1855         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left);
1856         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up);
1857         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
1858         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
1859         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(val->vector, avelocity);
1860         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.gravity);if (val) { if(val->_float != 0.0f && val->_float < 0.5f) gravity = false; }
1861
1862         // compatibility for legacy entities
1863         //if (!VectorLength2(forward) || solid == SOLID_BSP)
1864         {
1865                 AngleVectorsFLU(angles, forward, left, up);
1866                 // convert single-axis rotations in avelocity to spinvelocity
1867                 // FIXME: untested math - check signs
1868                 VectorSet(spinvelocity, DEG2RAD(avelocity[PITCH]), DEG2RAD(avelocity[ROLL]), DEG2RAD(avelocity[YAW]));
1869         }
1870
1871         // compatibility for legacy entities
1872         switch (solid)
1873         {
1874         case SOLID_BBOX:
1875         case SOLID_SLIDEBOX:
1876         case SOLID_CORPSE:
1877                 VectorSet(forward, 1, 0, 0);
1878                 VectorSet(left, 0, 1, 0);
1879                 VectorSet(up, 0, 0, 1);
1880                 VectorSet(spinvelocity, 0, 0, 0);
1881                 break;
1882         }
1883
1884
1885         // we must prevent NANs...
1886         test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
1887         if (IS_NAN(test))
1888         {
1889                 modified = true;
1890                 //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]);
1891                 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]);
1892                 test = VectorLength2(origin);
1893                 if (IS_NAN(test))
1894                         VectorClear(origin);
1895                 test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
1896                 if (IS_NAN(test))
1897                 {
1898                         VectorSet(angles, 0, 0, 0);
1899                         VectorSet(forward, 1, 0, 0);
1900                         VectorSet(left, 0, 1, 0);
1901                         VectorSet(up, 0, 0, 1);
1902                 }
1903                 test = VectorLength2(velocity);
1904                 if (IS_NAN(test))
1905                         VectorClear(velocity);
1906                 test = VectorLength2(spinvelocity);
1907                 if (IS_NAN(test))
1908                 {
1909                         VectorClear(avelocity);
1910                         VectorClear(spinvelocity);
1911                 }
1912         }
1913
1914         // limit movement speed to prevent missed collisions at high speed
1915         movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
1916         test = VectorLength2(velocity);
1917         if (test > movelimit*movelimit)
1918         {
1919                 modified = true;
1920                 // scale down linear velocity to the movelimit
1921                 // scale down angular velocity the same amount for consistency
1922                 f = movelimit / sqrt(test);
1923                 VectorScale(velocity, f, velocity);
1924                 VectorScale(avelocity, f, avelocity);
1925                 VectorScale(spinvelocity, f, spinvelocity);
1926         }
1927
1928         // make sure the angular velocity is not exploding
1929         spinlimit = physics_ode_spinlimit.value;
1930         test = VectorLength2(spinvelocity);
1931         if (test > spinlimit)
1932         {
1933                 modified = true;
1934                 VectorClear(avelocity);
1935                 VectorClear(spinvelocity);
1936         }
1937
1938         // check if the qc edited any position data
1939         if (!VectorCompare(origin, ed->priv.server->ode_origin)
1940          || !VectorCompare(velocity, ed->priv.server->ode_velocity)
1941          || !VectorCompare(angles, ed->priv.server->ode_angles)
1942          || !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
1943          || gravity != ed->priv.server->ode_gravity)
1944                 modified = true;
1945
1946         // store the qc values into the physics engine
1947         body = ed->priv.server->ode_body;
1948         if (body && modified)
1949         {
1950                 dVector3 r[3];
1951                 matrix4x4_t entitymatrix;
1952                 matrix4x4_t bodymatrix;
1953                 Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
1954                 Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
1955                 Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
1956                 r[0][0] = forward[0];
1957                 r[1][0] = forward[1];
1958                 r[2][0] = forward[2];
1959                 r[0][1] = left[0];
1960                 r[1][1] = left[1];
1961                 r[2][1] = left[2];
1962                 r[0][2] = up[0];
1963                 r[1][2] = up[1];
1964                 r[2][2] = up[2];
1965                 dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_body);
1966                 dBodySetPosition(body, origin[0], origin[1], origin[2]);
1967                 dBodySetRotation(body, r[0]);
1968                 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
1969                 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
1970                 dBodySetGravityMode(body, gravity);
1971                 dBodySetData(body, (void*)ed);
1972                 // setting body to NULL makes an immovable object
1973                 if (movetype != MOVETYPE_PHYSICS)
1974                         dGeomSetBody(ed->priv.server->ode_geom, 0);
1975         }
1976 }
1977
1978 #define MAX_CONTACTS 16
1979 static void nearCallback (void *data, dGeomID o1, dGeomID o2)
1980 {
1981         world_t *world = (world_t *)data;
1982         dContact contact[MAX_CONTACTS]; // max contacts per collision pair
1983         dBodyID b1;
1984         dBodyID b2;
1985         dJointID c;
1986         int i;
1987         int numcontacts;
1988         prvm_eval_t *val;
1989         float bouncefactor1 = 0.0f;
1990         float bouncestop1 = 60.0f / 800.0f;
1991         float bouncefactor2 = 0.0f;
1992         float bouncestop2 = 60.0f / 800.0f;
1993         dVector3 grav;
1994         prvm_edict_t *ed;
1995
1996         if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
1997         {
1998                 // colliding a space with something
1999                 dSpaceCollide2(o1, o2, data, &nearCallback);
2000                 // Note we do not want to test intersections within a space,
2001                 // only between spaces.
2002                 //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
2003                 //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
2004                 return;
2005         }
2006
2007         b1 = dGeomGetBody(o1);
2008         b2 = dGeomGetBody(o2);
2009
2010         // at least one object has to be using MOVETYPE_PHYSICS or we just don't care
2011         if (!b1 && !b2)
2012                 return;
2013
2014         // exit without doing anything if the two bodies are connected by a joint
2015         if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
2016                 return;
2017
2018         if(b1)
2019         {
2020                 ed = (prvm_edict_t *) dBodyGetData(b1);
2021                 if(ed)
2022                 {
2023                         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor);
2024                         if (val!=0 && val->_float)
2025                                 bouncefactor1 = val->_float;
2026
2027                         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop);
2028                         if (val!=0 && val->_float)
2029                                 bouncestop1 = val->_float;
2030                 }
2031         }
2032
2033         if(b2)
2034         {
2035                 ed = (prvm_edict_t *) dBodyGetData(b2);
2036                 if(ed)
2037                 {
2038                         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncefactor);
2039                         if (val!=0 && val->_float)
2040                                 bouncefactor2 = val->_float;
2041
2042                         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.bouncestop);
2043                         if (val!=0 && val->_float)
2044                                 bouncestop2 = val->_float;
2045                 }
2046         }
2047
2048         // merge bounce factors and bounce stop
2049         if(bouncefactor2 > 0)
2050         {
2051                 if(bouncefactor1 > 0)
2052                 {
2053                         // TODO possibly better logic to merge bounce factor data?
2054                         if(bouncestop2 < bouncestop1)
2055                                 bouncestop1 = bouncestop2;
2056                         if(bouncefactor2 > bouncefactor1)
2057                                 bouncefactor1 = bouncefactor2;
2058                 }
2059                 else
2060                 {
2061                         bouncestop1 = bouncestop2;
2062                         bouncefactor1 = bouncefactor2;
2063                 }
2064         }
2065         dWorldGetGravity(world->physics.ode_world, grav);
2066         bouncestop1 *= fabs(grav[2]);
2067
2068         // generate contact points between the two non-space geoms
2069         numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
2070         // add these contact points to the simulation
2071         for (i = 0;i < numcontacts;i++)
2072         {
2073                 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);
2074                 contact[i].surface.mu = physics_ode_contact_mu.value;
2075                 contact[i].surface.soft_erp = physics_ode_contact_erp.value;
2076                 contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
2077                 contact[i].surface.bounce = bouncefactor1;
2078                 contact[i].surface.bounce_vel = bouncestop1;
2079                 c = dJointCreateContact(world->physics.ode_world, world->physics.ode_contactgroup, contact + i);
2080                 dJointAttach(c, b1, b2);
2081         }
2082 }
2083 #endif
2084
2085 void World_Physics_Frame(world_t *world, double frametime, double gravity)
2086 {
2087 #ifdef USEODE
2088         if (world->physics.ode)
2089         {
2090                 int i;
2091                 prvm_edict_t *ed;
2092
2093                 // copy physics properties from entities to physics engine
2094                 if (prog)
2095                         for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2096                                 if (!prog->edicts[i].priv.required->free)
2097                                         World_Physics_Frame_BodyFromEntity(world, ed);
2098
2099                 world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
2100                 world->physics.ode_step = frametime / world->physics.ode_iterations;
2101                 world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
2102                 for (i = 0;i < world->physics.ode_iterations;i++)
2103                 {
2104                         // set the gravity
2105                         dWorldSetGravity(world->physics.ode_world, 0, 0, -gravity);
2106                         // set the tolerance for closeness of objects
2107                         dWorldSetContactSurfaceLayer(world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
2108
2109                         // run collisions for the current world state, creating JointGroup
2110                         dSpaceCollide(world->physics.ode_space, (void *)world, nearCallback);
2111
2112                         // run physics (move objects, calculate new velocities)
2113                         if (physics_ode_worldquickstep.integer)
2114                         {
2115                                 dWorldSetQuickStepNumIterations(world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200));
2116                                 dWorldQuickStep(world->physics.ode_world, world->physics.ode_step);
2117                         }
2118                         else if (physics_ode_worldstepfast.integer)
2119                                 dWorldStepFast1(world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstepfast_iterations.integer, 200));
2120                         else
2121                                 dWorldStep(world->physics.ode_world, world->physics.ode_step);
2122
2123                         // clear the JointGroup now that we're done with it
2124                         dJointGroupEmpty(world->physics.ode_contactgroup);
2125                 }
2126
2127                 // copy physics properties from physics engine to entities
2128                 if (prog)
2129                         for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2130                                 if (!prog->edicts[i].priv.required->free && PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype)->_float == MOVETYPE_PHYSICS)
2131                                         World_Physics_Frame_BodyToEntity(world, ed);
2132         }
2133 #endif
2134 }